Stress-matrix-based formation transformation control under mixed control variables

In this article, we consider the distributed planar formation control problem, in which only three agents have access to the desired geometry information specified by different sensing control variables, including the distance and bearing (angle). With the aim to achieve flexible transformation motions, the stress matrix is invoked to activate the affine formation control technique, rendering the system more freedom in the sense that the whole formation shape can be altered via controlling a small number of agents. By integrating the distance and bearing (angle) measurements, a new control algorithm is proposed such that the formation can be smoothly changed according to the prescribed control variables imposed on the informed agents. Moreover, the orientation of the whole formation is also controllable while forming the desired geometry shape. Finally, simulation results are presented to validate the effectiveness of the proposed control scheme.