NDLI: Control of triangular formations with a time-varying scale function

Content Provider	IEEE Xplore Digital Library
Author	Huang Huang Changbin Yu Xiangke Wang
Copyright Year	2011
Description	Author affiliation: Australian Nat. Univ., Canberra, ACT, Australia (Changbin Yu) \|\| Coll. of Mechantronics & Autom., Nat. Univ. of Defense Technol., Changsha, China (Xiangke Wang) \|\| Sch. of Autom., Beijing Inst. of Technol., Beijing, China (Huang Huang)
Abstract	This paper considers a novel problem of how to choose the scale of the final geometry for three agents in a triangular formation. Instead of assigning a set of desired side lengths, here the only requirement for the desired geometry is a triangle without any location, rotation and, most importantly, scale constraints. We set up a cost function that corresponds to the geometries degree of similarity with respect to the desired shape during convergence, and the cost value is compared between a system with a time varying scale function and the one with a constant scale. A fixed structure nonlinear control law on the positions of agents and the scale function is developed to drive the three agents exponentially converge to a triangle that matches the desired one in a cooperative manner. The control algorithms are validated on three AirRobots. It is shown that system with the proposed time-varying scale function outperforms the one with a constant scale.
Sponsorship	Control Syst. Soc.
Starting Page	4828
Ending Page	4833
File Size	359282
Page Count	6
File Format	PDF
ISBN	9781457700804
ISSN	07431619
e-ISBN	9781457700811
DOI	10.1109/ACC.2011.5991276
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Geometry Shape Convergence Trajectory Mathematical model Robot sensing systems
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in