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Complexity
Volume 2017, Article ID 9404193, 13 pages
https://doi.org/10.1155/2017/9404193
Research Article

Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints

1Engineering Department, Universidad Iberoamericana, 01219 Mexico City, Mexico
2Electrical Engineering Department, Universidad Católica del Uruguay, 11600 Montevideo, Uruguay
3Physics and Mathematics Department, Universidad Iberoamericana, 01219 Mexico City, Mexico
4Mathematics Department, Universidad Católica del Uruguay, 11600 Montevideo, Uruguay

Correspondence should be addressed to E. D. Ferreira-Vazquez; yu.ude.ucu@ierrefne

Received 26 May 2017; Accepted 9 August 2017; Published 20 September 2017

Academic Editor: Michele Scarpiniti

Copyright © 2017 E. G. Hernandez-Martinez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws.