Distributed local stabilization in formation control

Matthias Lorenzen, Mohamed Ali Belabbas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2014 European Control Conference, ECC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2914-2919
Number of pages6
ISBN (Electronic)9783952426913
DOIs
StatePublished - Jul 22 2014
Event13th European Control Conference, ECC 2014 - Strasbourg, France
Duration: Jun 24 2014Jun 27 2014

Publication series

Name2014 European Control Conference, ECC 2014

Other

Other13th European Control Conference, ECC 2014
CountryFrance
CityStrasbourg
Period6/24/146/27/14

ASJC Scopus subject areas

  • Control and Systems Engineering

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