Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements
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Sun, Zhiyong; de Marina, Hector Garcia; Anderson, Brian; Cao, Ming
Description
In this paper, we discuss quantization effects in rigid formation control systems when target formations are described by interagent distances. Because of practical sensing and measurement constraints, we consider in this paper distance measurements in their quantized forms. We show that under gradient‐based formation control, in the case of uniform quantization, the distance errors converge locally to a bounded set whose size depends on the quantization error, while in the case of logarithmic...[Show more]
Collections | ANU Research Publications |
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Date published: | 2018 |
Type: | Journal article |
URI: | http://hdl.handle.net/1885/202815 |
Source: | International Journal of Robust and Nonlinear Control |
DOI: | 10.1002/rnc.4288 |
Access Rights: | Open Access |
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File | Description | Size | Format | Image |
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quantization-effects-convergence.pdf | 667.72 kB | Adobe PDF |
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