论文标题
基于流离失所的形成控制，操纵和鲁棒性问题
Maneuvering and robustness issues in undirected displacement-consensus-based formation control
论文作者
论文摘要
在本文中，我们首先提出了一种与基于流离失所的形成控制器兼容的新型机动技术。我们表明，可以通过修改共识laplacian矩阵中的权重来以任意速度进行翻译。实际上，我们证明了基于位移传感器的形成控制是我们更通用方法的一种特殊情况。然后，我们发现了不希望的稳态运动的鲁棒性问题，并在基于非方向的基于相关的形成控制中发现了扭曲的形状。特别是，当邻近的代理不予以相对位置的相对位置（例如，其板载传感器未对准并且具有不同的规模因素）时，就会触发这些问题。我们将证明，如果所有感应接近完美但在代理之间都不同，那么系统的稳定性就会受到损害。最终的非态度速度和形状失真的显式表达式作为基于树图的尺度因子的函数和未对准的函数。
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the consensus Laplacian matrix. In fact, we demonstrate that the displacement-consensus-based formation control is a particular case of our more general method. We then uncover robustness issues with undesired steady-state motions and resultant distorted shapes in undirected displacement-consensus-based formation control. In particular, these issues are triggered when neighboring agents mismeasure their relative positions, e.g., their onboard sensors are misaligned and have different scale factors. We will show that if all the sensing is close to perfect but different among the agents, then the stability of the system is compromised. Explicit expressions for the eventual non-desired velocity and shape's distortion are given as functions of the scale factors and misalignments for formations based on tree graphs.
