A bondgraph approach to formation control using relative state measurements

Stacey, Geoff, Mahony, Robert, & Corke, Peter (2013) A bondgraph approach to formation control using relative state measurements. In Proceedings of the European Control Association Conference (EUCA 2013), European Control Association, Zürich, Switzerland, pp. 1262-1267.

View at publisher


In this paper we apply port-Hamiltonian theory with the bondgraph modelling approach to the problem of formation control using partial measurements of relative positions. We present a control design that drives a group of vehicles to a desired formation without requiring inter-vehicle communications or global position and velocity measurements to be available. Our generic approach is applicable to any form of relative measurement between vehicles, but we specifically consider the important cases of relative bearings and relative distances. In the case of bearings, our theory closely relates to the field of image-based visual servo (IBVS) control. We present simulation results to support the developed theory.

Impact and interest:

1 citations in Scopus
Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

ID Code: 61922
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Bondgraph modelling approach, Formation control, Relative bearing, Relative distance, Image-based visual servo control
ISBN: 9783952417348
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 EUCA
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the European Control Association (EUCA).
Deposited On: 19 Aug 2013 23:39
Last Modified: 20 Aug 2013 23:12

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page