TY - GEN
T1 - On global feedback stabilization of decentralized formation control
AU - Belabbas, M. A.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84860677469&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2011.6161450
DO - 10.1109/CDC.2011.6161450
M3 - Conference contribution
AN - SCOPUS:84860677469
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5750
EP - 5755
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -