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Generalized Controller for directed triangle formations

Cao, Ming; Yu, Changbin (Brad); Morse, A Stephen; Anderson, Brian; Dasgupta, Soura


This paper proposes and analyzes a distributed control law which generalizes three different previously considered control laws for maintaining a triangular formation in the plane consisting of three point-modeled, mobile autonomous agents. It is shown that the control law under consideration can cause any initially non-collinear, positively-oriented (resp. negatively-oriented) triangular formation to converge exponentially fast to a desired positively-oriented (resp. negatively-oriented)...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of International Federation of Automatic Control World Congress (SYSID 2008)
DOI: 10.3182/20080706-5-KR-1001.1058


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