TY - GEN
T1 - Distributed local stabilization in formation control
AU - Lorenzen, Matthias
AU - Belabbas, Mohamed Ali
N1 - Publisher Copyright:
© 2014 EUCA.
PY - 2014/7/22
Y1 - 2014/7/22
N2 - We present new results for formation control in the plane. We work with the usual assumptions stipulating that each agent in the formation has only access to the position of its leader(s) and the target edge length it has to maintain, i.e. only has partial knowledge of the global objective and global state of the formation. In this paper, we show how local stability of the formation around a target equilibrium is affected by this partial knowledge. In particular, we show why many natural control laws work for a formation of three agents but fail to work for slightly more complex, yet minimally persistent, formations.
AB - We present new results for formation control in the plane. We work with the usual assumptions stipulating that each agent in the formation has only access to the position of its leader(s) and the target edge length it has to maintain, i.e. only has partial knowledge of the global objective and global state of the formation. In this paper, we show how local stability of the formation around a target equilibrium is affected by this partial knowledge. In particular, we show why many natural control laws work for a formation of three agents but fail to work for slightly more complex, yet minimally persistent, formations.
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U2 - 10.1109/ECC.2014.6862537
DO - 10.1109/ECC.2014.6862537
M3 - Conference contribution
AN - SCOPUS:84911492463
T3 - 2014 European Control Conference, ECC 2014
SP - 2914
EP - 2919
BT - 2014 European Control Conference, ECC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th European Control Conference, ECC 2014
Y2 - 24 June 2014 through 27 June 2014
ER -