Distance-Based Planar Formation Control using Orthogonal Variables
Tairan Liu, Marcio S. de Queiroz, Farid Sahebsara · 2020 IEEE Conference on Control Technology and Applications (CCTA) · 2020
In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary feedback variable for the purpose of preventing formation ambiguities. We introduce two variables that form an orthogonal space and uniquely characterize a triangular formation in two dimensions. We show that the resulting controller ensures the almost-global asymptotic stability of the desired formation for an n-agent system without conditions on the triangulations of the desired formation or control gains.