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Finite Time Distance-based Rigid Formation Stabilization and Flocking

Sun, Zhiyong; Mou, Shaoshuai; Deghat, Mohammad; Anderson, Brian; Morse, A Stephen

Description

Most of the existing results on distributed distance-based rigid formation control establish asymptotic and often exponentially asymptotic convergence. To further improve the convergence rate, we explain in this paper how to modify existing controllers to obtain finite time stability. For point agents modeled by single integrators, the controllers proposed in this paper drive the whole formation to converge to a desired shape with finite settling time. For agents modeled by double integrators,...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
URI: http://hdl.handle.net/1885/30166
Source: Proceedings of the 19th IFAC World Congress, 2014
DOI: 10.3182/20140824-6-ZA-1003.00662

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