Control of directed formations with a leader-first follower structure

B.D.O Anderson; S Dasgupta; Changbin Yu

doi:10.1109/CDC.2007.4434410

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Conference proceeding

Control of directed formations with a leader-first follower structure

B.D.O Anderson, S Dasgupta and Changbin Yu

2007 46th IEEE Conference on Decision and Control, pp.2882-2887

12/2007

DOI: 10.1109/CDC.2007.4434410

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Abstract

This paper deals with the directed distance-based control of autonomous formations. Unlike most conventional approaches, a graphical model of the formation with a minimally persistent property is used. Any minimally persistent formation can, through agents additions, be re-organized as one with a leader and a first follower. This paper focuses on leader- first-follower formations that may contain cycles. We show how to establish equations of motion, and how to construct a decentralized control law that will recover shape in the presence of small deviations from the nominal. We also list a number of signification open problems in the general area.

Distributed control

Equations

Graph theory

Graphical models

Information technology

Local government

Multiagent systems

Shape control

Stability

USA Councils

Details

Title: Subtitle: Control of directed formations with a leader-first follower structure
Creators: B.D.O Anderson - Australian National University
S Dasgupta - University of Iowa
Changbin Yu - Australian National University
Resource Type: Conference proceeding
Publication Details: 2007 46th IEEE Conference on Decision and Control, pp.2882-2887
Publisher: IEEE
DOI: 10.1109/CDC.2007.4434410
ISSN: 0191-2216
Language: English
Date published: 12/2007
Academic Unit: Electrical and Computer Engineering
Record Identifier: 9984197175802771

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