Stabilization of Stiff Formations with a Mix of Direction and Distance Constraints
Heterogenous formation shape control with a mix of inter-agent distance and bearing constraints involves the design of distributed control laws that ensure the formation moves such that these inter-agent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve the mixed constraint formation control problem with an arbitrary number of agents. A gradient control law is proposed based on the mathematical notion of a stiff formation structure...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of the IEEE International Conference on Control Applications, CCA 2013, Hyderabad, India, August 28-30, 2013|
|01_Bishop_Stabilization_of_Stiff_2013.pdf||143.36 kB||Adobe PDF||Request a copy|
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