On global feedback stabilization of decentralized formation control

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

Abstract

We address the problem of global stabilization in decentralized formation control. Formation control is concerned with problems in which autonomous agents are required to stabilize at a given distance of other agents. In this context, a graph associated to a formation encodes both the information flow in the system and the distance constraints, by fixing the lengths of the edges. While globally stabilizing control laws for the case of n = 3 agents in a cyclic formation have been proposed, the case of n = 4 agents has so far resisted attempts to obtain globally stabilizing control laws. We show that a large class of control laws, including all control laws shown to work in the three agents case, cannot satisfactorily stabilize a four agents formation. The proof relies on applying ideas from singularity theory and dynamical systems theory which can be used to address global stabilization of a broad class of decentralized control systems.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages5750-5755
Number of pages6
DOIs
StatePublished - Dec 1 2011
Externally publishedYes
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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