Conference proceeding
Control of formations: Stepping beyond passivity
2018 Indian Control Conference (ICC), Vol.2018-, pp.282-287
01/2018
DOI: 10.1109/INDIANCC.2018.8307992
Abstract
We consider the problem of forcing a group of agents to achieve a rigid formation specified by a subset of interagent distances, through decentralized control action: Specifically by sensing only their relative position with respect to their neighbors and their own velocity. Prior papers have all assumed that the control input to velocity relationship is a passive system. In this paper we show that passivity is not necessary. We provide a class of linear time invariant (LTI) input to velocity models for which a stable control law can be formulated, provide such a law and prove its local stability.
Details
- Title: Subtitle
- Control of formations: Stepping beyond passivity
- Creators
- Soura Dasgupta - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- 2018 Indian Control Conference (ICC), Vol.2018-, pp.282-287
- DOI
- 10.1109/INDIANCC.2018.8307992
- Publisher
- IEEE
- Language
- English
- Date published
- 01/2018
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197552102771
Metrics
12 Record Views