Conference proceeding
Formation shape control: Global asymptotic stability of a four-agent formation
Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, pp.3002-3007
12/2009
DOI: 10.1109/CDC.2009.5399780
Abstract
This paper considers formation shape control of a team of four agents in the plane, motivated by an example from [1]. We utilize bidirectional, gradient-based interagent distance control laws which are designed so that the agents cooperatively achieve a specified desired formation shape. When every interagent distance is actively controlled (i.e. the information architecture is a complete graph), there may exist equilibrium formation shapes with incorrect interagent distances. We prove that any incorrect equilibrium formation shape is locally unstable for formations with internal angles that satisfy an acuteness condition and thereby establish that the desired formation shape, for all practical purposes, is globally asymptotically stable.
Details
- Title: Subtitle
- Formation shape control: Global asymptotic stability of a four-agent formation
- Creators
- T.H Summers - University of Texas at AustinChangbin Yu - Australian National UniversityB.D.O Anderson - Australian National UniversityS Dasgupta - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, pp.3002-3007
- Publisher
- IEEE
- DOI
- 10.1109/CDC.2009.5399780
- ISSN
- 0191-2216
- Language
- English
- Date published
- 12/2009
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197066302771
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