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.
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.
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|Item Type:||Conference Paper|
|Keywords:||Bondgraph modelling approach, Formation control, Relative bearing, Relative distance, Image-based visual servo control|
|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|
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