Conference proceeding
Certifying non-existence of undesired locally stable equilibria in formation shape control problems
2013 IEEE International Symposium on Intelligent Control (ISIC), pp.200-205
08/2013
DOI: 10.1109/ISIC.2013.6658617
Abstract
A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a large and growing literature has recently emerged on distance-based formation shape control, global stability properties remain a significant open problem. Even in four-agent formations, the basic question of whether or not there can exist locally stable incorrect equilibrium shapes remains open. This paper shows how this question can be answered for any size formation in principle using semidefinite programming techniques for semialgebraic problems, involving solutions sets of polynomial equations, inequations, and inequalities.
Details
- Title: Subtitle
- Certifying non-existence of undesired locally stable equilibria in formation shape control problems
- Creators
- Tyler H Summers - ETH ZurichChangbin Yu - Australian National UniversitySoura Dasgupta - University of IowaBrian D. O Anderson - Australian National University
- Resource Type
- Conference proceeding
- Publication Details
- 2013 IEEE International Symposium on Intelligent Control (ISIC), pp.200-205
- DOI
- 10.1109/ISIC.2013.6658617
- ISSN
- 2158-9860
- eISSN
- 2158-9879
- Publisher
- IEEE
- Language
- English
- Date published
- 08/2013
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197179702771
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