Position estimation and formation control using distance and partial state measurements

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-05-19 DOI:10.1016/j.automatica.2025.112374

Jianjun Sun , Defu Lin , Irfan Hussain , Lakmal Seneviratne , Shaoming He

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引用次数: 0

Abstract

This paper presents a distributed formation control strategy for multi-agent systems (MASs) and explores a position observer using distance measurements and partial state measurements. By leveraging infinitesimally rigid framework and matrix decomposition techniques, we pinpoint the position states that require direct measurements for satisfying local weak observability of MASs. Subsequently, by utilizing distance and partial position state measurements, we construct distributed observers to estimate positions in a global coordinate system encompassing all agents. The controller employs the gradient laws to preserve formation rigidity, facilitate collision avoidance, and ensure network connectivity. Additionally, proportional feedback is utilized to guide the agents toward desired global reference positions. Our analysis, based on the Lyapunov method, establishes the local asymptotic convergence of formation control and estimate errors, and derives lower bounds for control and observation feedback gains. To validate the effectiveness of our control method, we conduct some numerical simulations in a 3D space.

查看原文本刊更多论文

利用距离和局部状态测量进行位置估计和编队控制

提出了一种多智能体系统（MASs）的分布式编队控制策略，并研究了一种基于距离测量和局部状态测量的位置观测器。通过利用无穷小刚性框架和矩阵分解技术，我们确定了需要直接测量的位置状态，以满足质量的局部弱可观测性。随后，我们利用距离和部分位置状态测量，构建分布式观测器来估计包含所有agent的全局坐标系中的位置。该控制器采用梯度律来保持地层刚性，避免碰撞，并确保网络的连通性。此外，利用比例反馈将智能体引导到期望的全局参考位置。我们的分析基于Lyapunov方法，建立了群体控制和估计误差的局部渐近收敛性，并导出了控制和观测反馈增益的下界。为了验证控制方法的有效性，我们在三维空间中进行了一些数值模拟。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.