Formation Control Of Nonholonomic Multi-agent Systems With Bearing-only Information

Bearing formation control is an important subject in formation control research.Considering the limitation of formation control based on position and distance information,the formation control problem which only needs bearing information is one of the hot topics in the field of formation control.However,under different communication topologies,the information of neighbors' bearing information is only needed in formation control and global control without leader agents is achieved are still challenging tasks.In this paper,for different agent models under different communication topologies,relevant formation control strategies that require the bearing information between agents are studied.Firstly,for the single integral system in local reference frames,the bearing-only formation control problem is considered,a distributed bearing-only formation controller is designed,which merely depends on the local bearing measurement.Under the condition of the undirected communication topology constructed by the maximal group graph,the designed controller can achieve the global stability of the system without the leader in the local reference frames due to the existence of common agents among the maximal cliques,which guarantees the uniqueness of the formation graph.Then,the effectiveness and superiority of the controller are verified by comparative simulation.Secondly,for the formation control problem of multi-agent systems with nonholonomic constraints by bearing-only measurements,by minimizing the designed cost function,a novel distributed bearing-only formation controller is designed.The information interaction between agents is also defined by using maximal clique instead of infinitesimal bearing rigidity,so that the closed-loop system can achieve the global stability.At the same time,the embedded rotation angles between the final formation and the target formation are presented to optimize the motion process in real time.On this basis,the formation control strategy with collision avoidance function is studied.Then,the effectiveness of the designed controller is verified by simulation results and experiments.Finally,the distributed bearing formation control strategy is designed to solve the problem that bearing formation control under the directed communication topology.In order to ensure the controllability of the system,the directed communication topology must satisfy the constraint condition including a reverse directed spanning tree.Based on the directed graph that satisfies the constraint conditions,the dynamic gain is increased in the linear velocity input and the bounded gain is increased in the angular velocity so as to realize the formation control of the directed graph.In addition,using Riemannian manifold reduction theorem,the global asymptotic stability of the system is analyzed from two aspects of communication topology and bearing controller.Then,the simulation results show the effectiveness of the bearing control strategy.