Formation and Flocking Control Algorithms for Robot Networks with Double Integrator Dynamics and Time-Varying Formations

Author:

Montañez-Molina Carlos1,Pliego-Jiménez Javier12,Martínez-Clark Rigoberto3ORCID

Affiliation:

1. Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, Centro de Investigación Científica y de Educación Superior de Ensenada, Ensenada 22860, Mexico

2. Programa Investigadores por México, Consejo Nacional de Ciencia y Tecnología, Mexico City 03940, Mexico

3. Facultad de Ingeniería, Administración y Ciencias Sociales, Universidad Autónoma de Baja California, Mexicali 21100, Mexico

Abstract

In this work, we study the problem of designing control laws that achieve time-varying formation and flocking behaviors in robot networks where each agent or robot presents double integrator dynamics. To design the control laws, we adopt a hierarchical control approach. First, we introduce a virtual velocity, which is used as a virtual control input for the position subsystem (outer loop). The objective of the virtual velocity is to achieve collective behaviors. Then, we design a velocity tracking control law for the velocity subsystem (inner loop). An advantage of the proposed approach is that the robots do not require the velocity of their neighbors. Additionally, we address the case in which the second state of the system is not available for feedback. We include a set of simulation results to show the performance of the proposed control laws.

Funder

CONACYT Research Projects

Publisher

MDPI AG

Subject

General Physics and Astronomy

Reference30 articles.

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5. Formation control with time-varying formations, bounded controls, and local collision avoidance;Lippay;IEEE Trans. Control. Syst. Technol.,2021

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