Generalized Controller for directed triangle formations

Ming Cao; Changbin Yu; A Stephen Morse; Brian Anderson; Soura Dasgupta

doi:10.3182/20080706-5-KR-1001.1058

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Conference proceeding

Generalized Controller for directed triangle formations

Ming Cao, Changbin Yu, A Stephen Morse, Brian Anderson and Soura Dasgupta

06/11/2008

DOI: 10.3182/20080706-5-KR-1001.1058

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Abstract

This paper proposes and analyzes a distributed control law which generalizes three different previously considered control laws for maintaining a triangular formation in the plane consisting of three point-modeled, mobile autonomous agents. It is shown that the control law under consideration can cause any initially non-collinear, positively-oriented (resp. negatively-oriented) triangular formation to converge exponentially fast to a desired positively-oriented (resp. negatively-oriented) triangular formation. These findings clarify and extend earlier results.

Autonomous agents

Cooperative systems

Distributed control and estimation

Distributed control law

Distributed parameter control systems

Keywords: Control laws

Mobile agents

Mobile autonomous agents

Mobile telecommunication systems

Multi agent systems Cooperative systems

Multi-agent systems

Details

Title: Subtitle: Generalized Controller for directed triangle formations
Creators: Ming Cao
Changbin Yu
A Stephen Morse
Brian Anderson
Soura Dasgupta
Resource Type: Conference proceeding
Publisher: Elsevier
DOI: 10.3182/20080706-5-KR-1001.1058
Language: English
Date published: 06/11/2008
Academic Unit: Electrical and Computer Engineering
Record Identifier: 9984197235602771

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