Forced Symmetric Formation Control

IF 4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control of Network Systems Pub Date : 2025-01-03 DOI:10.1109/TCNS.2025.3525814

Daniel Zelazo;Shin-ichi Tanigawa;Bernd Schulze

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引用次数: 0

Abstract

This work considers the distance constrained formation control problem with an additional constraint requiring that the formation exhibits a specified spatial symmetry. We employ recent results from the theory of symmetry-forced rigidity to construct an appropriate potential function that leads to a gradient dynamical system driving the agents to the desired formation. We show that only

$(1+1/|\Gamma |)n$

edges are sufficient to implement the control strategy when there are

$n$

agents and the underlying symmetry group is

$\Gamma$

. This number is considerably smaller than what is typically required from classic rigidity-theory-based strategies (

$2n-3$

edges). We also provide an augmented control strategy that ensures that the agents can converge to a formation with respect to an arbitrary centroid. Numerous numerical examples are provided to illustrate the main results.

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强制对称编队控制

这项工作考虑了距离约束的地层控制问题，并附加了一个约束，要求地层具有特定的空间对称性。我们利用对称-强制刚性理论的最新结果来构造一个适当的势函数，该势函数导致一个梯度动力系统将代理驱动到期望的队形。我们证明了只有$(1+1/|\Gamma |)n$条边足以实现控制策略，当有$n$ agent且底层对称群为$\Gamma$时。这个数字远远小于经典的基于刚性理论的策略（$2n-3$边）所需要的数值。我们还提供了一种增强控制策略，以确保代理可以收敛到一个相对于任意质心的编队。给出了大量的数值算例来说明主要结果。

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

IEEE Transactions on Control of Network Systems Mathematics-Control and Optimization

CiteScore

7.80

自引率

7.10%

发文量

169

期刊介绍： The IEEE Transactions on Control of Network Systems is committed to the timely publication of high-impact papers at the intersection of control systems and network science. In particular, the journal addresses research on the analysis, design and implementation of networked control systems, as well as control over networks. Relevant work includes the full spectrum from basic research on control systems to the design of engineering solutions for automatic control of, and over, networks. The topics covered by this journal include: Coordinated control and estimation over networks, Control and computation over sensor networks, Control under communication constraints, Control and performance analysis issues that arise in the dynamics of networks used in application areas such as communications, computers, transportation, manufacturing, Web ranking and aggregation, social networks, biology, power systems, economics, Synchronization of activities across a controlled network, Stability analysis of controlled networks, Analysis of networks as hybrid dynamical systems.