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Formation and Flocking Control Algorithms for Robot Networks with Double Integrator Dynamics and Time-Varying Formations.
Montañez-Molina, Carlos; Pliego-Jiménez, Javier; Martínez-Clark, Rigoberto.
Affiliation
  • Montañez-Molina C; Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, Centro de Investigación Científica y de Educación Superior de Ensenada, Ensenada 22860, Mexico.
  • Pliego-Jiménez J; Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, Centro de Investigación Científica y de Educación Superior de Ensenada, Ensenada 22860, Mexico.
  • Martínez-Clark R; Programa Investigadores por México, Consejo Nacional de Ciencia y Tecnología, Mexico City 03940, Mexico.
Entropy (Basel) ; 25(6)2023 May 23.
Article in En | MEDLINE | ID: mdl-37372178
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.
Key words

Full text: 1 Collection: 01-internacional Database: MEDLINE Language: En Journal: Entropy (Basel) Year: 2023 Document type: Article Affiliation country: Mexico Country of publication: Switzerland

Full text: 1 Collection: 01-internacional Database: MEDLINE Language: En Journal: Entropy (Basel) Year: 2023 Document type: Article Affiliation country: Mexico Country of publication: Switzerland