Distributed stabilization control of rigid formations with prescribed orientation
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Sun, Zhiyong; Park, Myoung-Chul; Anderson, Brian D. O.; Ahn, Hyo-Sung
Description
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]
Collections | ANU Research Publications |
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Date published: | 2017 |
Type: | Journal article |
URI: | http://hdl.handle.net/1885/112400 |
Source: | Automatica |
DOI: | 10.1016/j.automatica.2016.12.031 |
Access Rights: | Open Access Open Access |
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01_Sun_Distributed_Stabilization_2017.pdf | 348.01 kB | Adobe PDF | ![]() |
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