TY - GEN

T1 - On global feedback stabilization of decentralized formation control

AU - Belabbas, Mohamed Ali

PY - 2011/12/1

Y1 - 2011/12/1

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

UR - http://www.scopus.com/inward/citedby.url?scp=84860677469&partnerID=8YFLogxK

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

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 -