On the stability of distance-based formation control
2008 (English)In: Proceedings of the IEEE Conference on Decision and Control, 2008, 1200-1205 p.Conference paper (Refereed)
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.
, IEEE Conference on Decision and Control, ISSN 0191-2216
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)
IdentifiersURN: urn:nbn:se:kth:diva-28515DOI: 10.1109/CDC.2008.4739215ISI: 000307311601054ScopusID: 2-s2.0-62949089973ISBN: 978-142443124-3OAI: oai:DiVA.org:kth-28515DiVA: diva2:389977
47th IEEE Conference on Decision and Control, CDC 2008; Cancun; 9 December 2008 through 11 December 2008
QC 201101202011-01-202011-01-142013-05-06Bibliographically approved