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Geometrical Methods for Mismatched Formation Control

Helmke, Uwe; Mou, Shaoshuai; Sun, Zhiyong; Anderson, Brian

Description

Formation shape control for a collection of point agents is concerned with devising decentralized control laws which will move the formation so that certain inter-agent distances reach prescribed desired values. Standard algorithms such as that proposed by [1] perform steepest descent of a smooth error function, ensuring that the formations will always converge to equilibrium points for the gradient flow. The convergence to equilibrium points of these algorithms depends critically on the fact...[Show more]

dc.contributor.authorHelmke, Uwe
dc.contributor.authorMou, Shaoshuai
dc.contributor.authorSun, Zhiyong
dc.contributor.authorAnderson, Brian
dc.coverage.spatialLos Angeles, USA
dc.date.accessioned2015-12-07T22:21:31Z
dc.date.createdDecember 15-17 2014
dc.identifier.isbn9781479977451
dc.identifier.urihttp://hdl.handle.net/1885/20079
dc.description.abstractFormation shape control for a collection of point agents is concerned with devising decentralized control laws which will move the formation so that certain inter-agent distances reach prescribed desired values. Standard algorithms such as that proposed by [1] perform steepest descent of a smooth error function, ensuring that the formations will always converge to equilibrium points for the gradient flow. The convergence to equilibrium points of these algorithms depends critically on the fact that there is no mismatch in two neighboring agents' understandings of what the desired distance between them is supposed to be. If mismatches occur then the limiting dynamics will typically become periodic, as has been explored in several recent papers such as, e.g., [2]-[5]. The goal then becomes to develop methods to count such relative equilibria and characterize their local stability properties. In this paper we apply basic Lie group methods to analyze the relative equilibria in the presence of mismatches, thus simplifying earlier proofs in the literature.
dc.publisherIEEE Control Systems Society
dc.relation.ispartofseries53rd IEEE Conference on Decision and Control
dc.sourceCritical Observations in a Diagnostic Problem
dc.titleGeometrical Methods for Mismatched Formation Control
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2014
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu1008059xPUB11
local.type.statusPublished Version
local.contributor.affiliationHelmke, Uwe, University of Wurzburg
local.contributor.affiliationMou, Shaoshuai, Yale University
local.contributor.affiliationSun, Zhiyong, College of Engineering and Computer Science, ANU
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.startpage1341
local.bibliographicCitation.lastpage1346
local.identifier.doi10.1109/CDC.2014.7039568
local.identifier.absseo970111 - Expanding Knowledge in the Medical and Health Sciences
dc.date.updated2015-12-07T08:58:30Z
local.identifier.scopusID2-s2.0-84931827790
CollectionsANU Research Publications

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