Related papers: An Intrinsic Approach to Formation Control of Regu…
In this paper, formation control for reduced attitude is studied, in which both stationary and rotating regular tetrahedron formation can be achieved and are asymptotically stable under a large family of gain functions in the control.…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…
This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal…
This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
This paper studies formation control of an arbitrary number of spacecraft based on a serial network structure. The leader controls its absolute position and absolute attitude with respect to an inertial frame, and the followers control its…
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. While strategies for such coupled systems have been validated…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…