This article proposes a distributed control approach via global orientation estimation for a range of coordination control tasks of multiple mobile agents. In particular, we first present a distributed orientation estimation protocol that determines the orientations of agents almost globally and exponentially up to an unknown constant orientation. Based on the orientation estimation, we then present distributed control laws for formation stabilization of and controlling the moving formations of holonomic double-integrator agents. Furthermore, a distributed control protocol is proposed and almost globally asymptotic convergence of the desired formation is established for nonholonomic mobile agents subject to velocity constraints. Finally, simulation results and experimental verification are also provided.

中文翻译：

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全局方向估计的移动Agent分布式编队控制

本文提出了一种通过全局方向估计的分布式控制方法，用于多个移动代理的一系列协调控制任务。特别地，我们首先提出一种分布式方向估计协议，该协议几乎全局地和指数地确定代理的方向，直到未知的恒定方向。基于方向估计，然后我们提出了分布式控制律，用于完整的双积分剂的地层稳定和控制其移动地层。此外，提出了分布式控制协议，并为受速度约束的非完整移动代理建立了所需形式的几乎全局渐近收敛。最后，提供了仿真结果和实验验证。