Hybrid distance-angle rigidity theory with signed constraints and its applications to formation shape control
Abstract
In this paper, we develop a hybrid distance-angle rigidity theory that involves heterogeneous distances (or unsigned angles) and signed constraints for a framework in the 2-D and 3-D space. The new rigidity theory determines a (locally) unique formation shape up to a translation and a rotation by a set of distance and signed constraints, or up to a translation, a rotation and additionally a scaling factor by a set of unsigned angle and signed constraints. Under this new rigidity theory, we have a clue to resolve the flip (or reflection) and flex ambiguity for a target formation with hybrid distance-angle constraints. In particular, we can completely eliminate the ambiguity issues if formations are under a specific construction which is called \myemph{signed Henneberg construction} in this paper. We then apply the rigidity theory to formation shape control and develop a gradient-based control system that guarantees an exponential convergence close to a desired formation by inter-neighbor measurements. Several numerical simulations on formation shape control with hybrid distance-angle constraints are provided to validate the theoretical results.
- Publication:
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arXiv e-prints
- Pub Date:
- December 2019
- DOI:
- 10.48550/arXiv.1912.12952
- arXiv:
- arXiv:1912.12952
- Bibcode:
- 2019arXiv191212952K
- Keywords:
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- Electrical Engineering and Systems Science - Systems and Control