Null Space-Based Formation Control with Leader Change Possibility

In this paper, the formation problem of UAVs swarm is studied based on a combination of the potential functions. On the basis of mathematical models of the traditional artificial potential field,a new formation potential function is proposed. The potential functions is merged using null space control strategy which is capable of dealing with conflicts among elementary potential functions and avoid local minimum problem. The results achieved by computer simulations suggest that the control approach can produces good effect.

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A Framework for Multi-Task Formation Control of Nonholonomic Robotic Systems

ASME 2008 Dynamic Systems and Control Conference, Parts A and B ◽

10.1115/dscc2008-2244 ◽

2008 ◽

Cited By ~ 1

Author(s):

Junjie Zhang ◽

Jingang Yi ◽

Suhada Jayasuriya

Keyword(s):

Feedback Linearization ◽

Formation Control ◽

Null Space ◽

Lower Layer ◽

Hierarchical Architecture ◽

Practical Applications ◽

Control Scheme ◽

Robot Systems ◽

Asymptotic Tracking ◽

Reference Trajectories

In practical applications, multi-robot systems may have to simultaneously deal with several tasks: collision-free maneuvers in dynamic environments; tracking certain desired trajectories; forming suitable patterns or geometrical shapes, and/or varying the pattern when necessary. The proposed formation control scheme in this paper addresses these issues. First a dynamic model for a nonholonomic robot prototype is developed. Tracking control is then realized by employing input-output feedback linearization. To achieve typical complex formation missions, a two-layer hierarchical architecture is proposed. At the upper layer, a null-space method is utilized to prioritize the tasks of the robot team and to generate reference trajectories for formation control. In the lower layer, the control scheme for each individual robot guarantees asymptotic tracking of the desired trajectories. Numerical simulations of a realistic case study illustrate the effectiveness of the proposed framework.

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MAV Circular Leader-Follower Formation Control Utilizing Mass-Spring-Damper with Centripetal Force Consideration

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2013.p0240 ◽

2013 ◽

Vol 25 (1) ◽

pp. 240-251 ◽

Cited By ~ 1

Author(s):

Mohammad Fadhil Bin Abas ◽

◽

Syaril Azrad Md. Ali ◽

Daisuke Iwakura ◽

Yuze Song ◽

...

Keyword(s):

Shape Control ◽

Formation Control ◽

Past Research ◽

Experimental Result ◽

Control Problems ◽

Centripetal Force ◽

Virtual Mass ◽

Migrating Birds ◽

Mass Spring ◽

Leader Change

Past research has dealt with numerous formation control problems related to leader-follower formation. In the move towards bio-inspired formation, this paper introduces flock formation based on migrating birds. Flock formation development can be subdivided into shape control, shape entrance control and leader change control. Shape control or keeping is the first part of development. Shape keeping in this paper utilizes a virtual spring and damper model to interconnect all the Micro Aerial Vehicles (MAVs) in the formation. Besides that, the algorithm also considers the centripetal force acting on each MAV since a circular/curve motion is being evaluated. The circular leader-follower formation control of multiple MAVs using virtual mass-spring-damper system with the consideration of centripetal force for flock formation shape keeping has been successfully designed and implemented. Based on the experimental result, it is seen that the performance of the algorithm is reliable.

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