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Stabilization of rigid formations with direction-only constraints
KTH, School of Electrical Engineering (EES), Automatic Control.
2011 (English)In: Proc IEEE Conf Decis Control, 2011, 746-752 p.Conference paper (Refereed)
Abstract [en]

Direction-based formation shape control for a collection of autonomous agents involves the design of distributed control laws that ensure the formation moves so that certain relative bearing constraints achieve, and maintain, some desired value. This paper looks at the design of a distributed control scheme to solve the direction-based formation shape control problem. A gradient control law is proposed based on the notion of bearing-only constrained graph rigidity and parallel drawings. This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only constraints are typically maintained. A stability analysis is sketched and a number of illustrative examples are also given.

Place, publisher, year, edition, pages
2011. 746-752 p.
, Proceedings of the IEEE Conference on Decision and Control, ISSN 0191-2216
Keyword [en]
A-stability, Bearing-only, Control laws, Distributed control law, Distributed control schemes, Formation control, Illustrative examples, Rigid formations, Shape control, Autonomous agents, Control theory
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-150627DOI: 10.1109/CDC.2011.6160743ScopusID: 2-s2.0-84860654469ISBN: 9781612848006OAI: diva2:744393
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, 12 December 2011 through 15 December 2011, Orlando, FL

QC 20140908

Available from: 2014-09-08 Created: 2014-09-08 Last updated: 2014-09-08Bibliographically approved

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Shames, Iman
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