Displacement-Based Formation Control with Measurement Noises

Weiqiang Chen1; Liangming Chen2; Jie Mei3; Hongwei Zhang4

10.1109/CDC49753.2023.10383911

2023

2023 62nd IEEE Conference on Decision and Control (CDC)

0743-1546

2576-2370

979-8-3503-0125-0

2023 62nd IEEE Conference on Decision and Control (CDC)

5171-5176

2023-12-13～2023-12-15

Singapore

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Multi-agent formations have many practical applications. Measurement noises are inevitable in multi-agent formations, in which, however, the existing results mainly focus on special types of noises, and the analytical discussion on the effect of general noises is challenging and remains open. This motivates us to study the effect of stochastic measurement noises on displacement-based multi-agent formations, which are described by a general form of stochastic processes with finite second-order moments. First, for the case of unbiased measurement noises, a sufficient and necessary condition is derived for the existence of solutions in the stochastic dynamics of multi-agent formations. Then, several statistical features and convergence of formation errors are analyzed. In particular, for the case of unbiased measurement noises described by zero-mean wide-sense stationary processes, an upper bound on the mean square convergence of formation errors is obtained. Finally, we demonstrate the effectiveness of our theoretical results through a simulation example.

Upper bound Atmospheric measurements Measurement uncertainty Integral equations Stochastic processes Displacement measurement Particle measurements

第一 ; 通讯

英语

EI ; CPCI-S

Shenzhen Key Laboratory of Control Theory and Intelligent Systems[ZDSYS20220330161800001]

Automation & Control Systems ; Engineering

Automation & Control Systems ; Engineering, Electrical & Electronic

WOS:001166433804046

20240715548106

人工提交

1.School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, Shenzhen, China Shenzhen Key Laboratory of Control Theory and Intelligent Systems, Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China
2.Shenzhen Key Laboratory of Control Theory and Intelligent Systems, Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China
3.School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, Shenzhen, China
4.School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, Shenzhen, China

Weiqiang Chen,Liangming Chen,Jie Mei,et al. Displacement-Based Formation Control with Measurement Noises[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:5171-5176.