Journal of Systems Engineering and Electronics ›› 2013, Vol. 24 ›› Issue (3): 480-.doi: 10.1109/JSEE.2013.00056

• CONTROL THEORY AND APPLICATION • Previous Articles     Next Articles

Distributed stereoscopic rotating formation control of networks of second-order agents

Li Song1,2,*, Qinghe Wu1,2, Di Yu1,2, and Yinqiu Wang1,2   

  1. 1. Key Laboratory of Complex System Intelligent Control and Decision (Ministry of Education), School of Automation, Beijing Institute of Technology, Beijing 100081, China;
    2. School of Automation, Beijing Institute of Technology, Beijing 100081, China
  • Online:2013-06-25 Published:2010-01-03

Abstract:

Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.