Conference proceeding
Control of minimally persistent leader-remote-follower formations in the plane
2009 European Control Conference (ECC), pp.2438-2443
08/2009
DOI: 10.23919/ECC.2009.7074771
Abstract
This paper addresses the n-vehicle formation shape maintenance problem in the plane. The objective is to design decentralized motion control laws for each vehicle to restore formation shape in the presence of small perturbations from the desired shape. Formation shape is restored by actively controlling a certain set of interagent distances, and we assign the task of controlling a particular interagent distance to only one of the involved agents. We restrict our attention to a class of directed information architectures called minimally persistent leader-remote-follower. The nonlinear closed-loop system has a manifold of equilibria, which implies that the linearized system is nonhyperbolic. We apply center manifold theory to show local exponential stability of the desired formation shape. Choosing stabilizing gains is possible if a certain submatrix of the rigidity matrix has all leading principal minors nonzero, and we show that this condition holds for all leader-remote-follower formations with generic agent positions. Simulations are provided.
Details
- Title: Subtitle
- Control of minimally persistent leader-remote-follower formations in the plane
- Creators
- Tyler H Summers - University of Texas at AustinChangbin Yu - Australian National UniversityBrian D. O Anderson - Australian National UniversitySoura Dasgupta - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- 2009 European Control Conference (ECC), pp.2438-2443
- DOI
- 10.23919/ECC.2009.7074771
- Publisher
- IEEE
- Language
- English
- Date published
- 08/2009
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197442602771
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