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Generalized controllers for rigid formation stabilization with application to event-based controller design

Sun, Zhiyong; Liu, Qingchen; Yu, Changbin (Brad); Anderson, Brian

Description

This paper discusses generalized controllers for rigid formation shape stabilization. We provide unified analysis to show convergence using different controllers reported in the literature, and further prove an exponential stability of the formation system when using the general form of shape controllers. We also show that different agents can use different controllers for controlling different distances to achieve a desired rigid formation, which enables the implementation of heterogeneous...[Show more]

CollectionsANU Research Publications
Date published: 2015
Type: Conference paper
URI: http://hdl.handle.net/1885/154101
Source: Proceedings of the European Control Conference (ECC 2015)
DOI: 10.1109/ECC.2015.7330548
Access Rights: Open Access

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