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Second-Order Coordination Control for Triangle Formation Based on Angle Constraints

This paper studied the second-order triangle formation control problem, in which there is a fixed sink and two mobile agents. In our setup, the specified triangle is characterized by only interior angles constraints. For each agent, only bearing of the sink, bearing of the other agent and the velocity of itself can be measured in its local frame. Moveover, the mobile agents exchange the measured information with each other by means of communication. Based on these local information, a control protocol is proposed for achieving angle-based triangle formation. Theoretical analysis is given to prove the convergence of the algorithm, and simulation results is presented to verify the validity of the strategy.