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Distributed stabilization control of rigid formations with prescribed orientation

Sun, Zhiyong; Park, Myoung-Chul; Anderson, Brian D. O.; Ahn, Hyo-Sung


Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed orientations in both 2-D and 3-D spaces. The proposed controllers involve the commonly-used gradient descent control for shape stabilization, and an additional term to control the directions of certain relative position vectors associated with certain chosen...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Journal article
Source: Automatica
DOI: 10.1016/j.automatica.2016.12.031
Access Rights: Open Access
Open Access


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