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Robustness issues in double-integrator undirected rigid formation systems

Sun, Zhiyong; Anderson, Brian; Mou, Shaoshuai; Morse, A. Stephen


In this paper we consider rigid formation control systems modelled by double integrators (including formation stabilization systems and flocking control systems), with a focus on their robustness property in the presence of distance mismatch. By introducing additional state variables we show the augmented double-integrator distance error system is self-contained, and we prove the exponential stability of the distance error systems via linearization analysis. As a consequence of the exponential...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Journal article
Source: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2017.08.221
Access Rights: Open Access


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