Distance-based Control of Kn Formations in General Space with Almost Global Convergence
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Park, Myoung-Chul; Sun, Zhiyong; Anderson, Brian; Ahn, Hyo-Sung
Description
In this paper, we propose a distance-based formation control strategy for a group of mobile agents to achieve almost global convergence to a target formation shape provided that the formation is represented by a complete graph, and each agent is governed by a single-integrator model. The undamental idea of achieving almost global convergence is to use a virtual formation of which the dimension is augmented with some virtual coordinates. We define a cost function associated with the virtual...[Show more]
Collections | ANU Research Publications |
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Date published: | 2017-11-22 |
Type: | Journal article |
URI: | http://hdl.handle.net/1885/198778 |
Source: | IEEE Transactions on Automatic Control |
DOI: | 10.1109/TAC.2017.2776524 |
Access Rights: | Open Access |
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File | Description | Size | Format | Image |
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201704 Kn formation TAC.pdf | 286.4 kB | Adobe PDF |
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