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On the stability of distance-based formation control
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2008 (English)In: Proceedings of the IEEE Conference on Decision and Control, 2008, 1200-1205 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper examines stability properties of distance-based formations. These are formations encoded by inter-agent relative distances. A negative gradient control law is proposed and is shown to be provably correct when the formation graph is a tree. Moreover, it is shown that the tree structure is a necessary and sufficient condition for distancebased formation stabilization with negative gradient control laws. For graphs that contain cycles, a characterization of the resulting equilibria is given based on the properties of the cycle space of the graph. The results are also applied to flocking motion for double integrator agents.

Place, publisher, year, edition, pages
2008. 1200-1205 p.
Series
IEEE Conference on Decision and Control, ISSN 0191-2216
Keyword [en]
Control laws, Cycle spaces, Distance-based, Double integrators, Flocking motions, Formation controls, Formation graphs, Formation stabilizations, Relative distances, Stability properties, Sufficient conditions, Tree structures, Agents, Demodulation, Stability, Trees (mathematics)
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-28515DOI: 10.1109/CDC.2008.4739215ISI: 000307311601054Scopus ID: 2-s2.0-62949089973ISBN: 978-142443124-3 (print)OAI: oai:DiVA.org:kth-28515DiVA: diva2:389977
Conference
47th IEEE Conference on Decision and Control, CDC 2008; Cancun; 9 December 2008 through 11 December 2008
Note

QC 20110120

Available from: 2011-01-20 Created: 2011-01-14 Last updated: 2013-05-06Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik

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