Abstract
A formation control method is proposed for multiple agents of “1” leader and “N” follower where the following N-agents (as called followers) can only observe the bearing information of the leading 1-agent (as called the leader). It is proven that bearing-only observation meets the observability condition required for the “1-N” leader-follower formation system. The unscented Kalman filter is employed to estimate the relative position of the leader, based on which the input-output feedback control law is executed to control the real-time movement of the followers so that the “1-N” leader-followers formation is properly maintained. Simulation results demonstrate the effectiveness of our approach.
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Han, Q., Li, T., Sun, S., Villarrubia, G., de la Prieta, F. (2015). “1-N” Leader-Follower Formation Control of Multiple Agents Based on Bearing-Only Observation. In: Demazeau, Y., Decker, K., Bajo Pérez, J., de la Prieta, F. (eds) Advances in Practical Applications of Agents, Multi-Agent Systems, and Sustainability: The PAAMS Collection. PAAMS 2015. Lecture Notes in Computer Science(), vol 9086. Springer, Cham. https://doi.org/10.1007/978-3-319-18944-4_10
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