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Robustness issues in double-integrator undirected rigid formation systems

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

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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]

dc.contributor.authorSun, Zhiyong
dc.contributor.authorAnderson, Brian
dc.contributor.authorMou, Shaoshuai
dc.contributor.authorMorse, A. Stephen
dc.date.accessioned2020-04-03T00:12:23Z
dc.date.available2020-04-03T00:12:23Z
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/1885/202689
dc.description.abstractIn 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 stability, the distance error still converges in the presence of small and constant distance mismatches, while additional motions of the resulted formation will occur. We further analyze the rigid motions induced by constant mismatches for both double-integrator formation stabilisation systems and flocking control systems.
dc.description.sponsorshipThis work was supported by the Australian Research Council (ARC) under grant DP130103610 and DP160104500. Z. Sun was supported by the Australian Prime Minister's Endeavour Postgraduate Award from Australian Government. The work of S. Mou was supported by funding from Northrop Grumman Corporation.
dc.format.mimetypeapplication/pdf
dc.language.isoen_AU
dc.publisherElsevier BV
dc.rights© 2017 IFAC (International Federation of Automatic Control)
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.sourceIFAC-PapersOnLine
dc.subjectFormation control
dc.subjectexponential stability
dc.subjectdouble-integrator systems
dc.subjectdistance mismatch
dc.subjectrigid body motion
dc.titleRobustness issues in double-integrator undirected rigid formation systems
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume50
dc.date.issued2017
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4351680xPUB385
local.publisher.urlhttps://www.sciencedirect.com/
local.type.statusPublished Version
local.contributor.affiliationSun, Zhiyong, College of Engineering and Computer Science, ANU
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.contributor.affiliationMou, Shaoshuai, Purdue University
local.contributor.affiliationMorse, A. Stephen, Yale University
dc.relationhttp://purl.org/au-research/grants/arc/DP130103610
dc.relationhttp://purl.org/au-research/grants/arc/DP160104500
local.bibliographicCitation.issue1
local.bibliographicCitation.startpage1334
local.bibliographicCitation.lastpage1339
local.identifier.doi10.1016/j.ifacol.2017.08.221
local.identifier.absseo810104 - Emerging Defence Technologies
dc.date.updated2019-11-25T07:49:12Z
local.identifier.scopusID2-s2.0-85031793802
dcterms.accessRightsOpen Access
dc.provenancehttps://www.ifac-control.org/publications/copyright-conditions..."The authors may share the final published article on public non-commercial sites in the terms of the Creative Commons CC-BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/." (as at 3.4.2020)
dc.rights.licenseCreative Commons CC-BY-NC-ND license
CollectionsANU Research Publications

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