Finite Time Distance-based Rigid Formation Stabilization and Flocking
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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]
dc.contributor.author | Sun, Zhiyong | |
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dc.contributor.author | Mou, Shaoshuai | |
dc.contributor.author | Deghat, Mohammad | |
dc.contributor.author | Anderson, Brian | |
dc.contributor.author | Morse, A Stephen | |
dc.coverage.spatial | Cape Town International Convention Centre, Cape Town, South Africa | |
dc.date.accessioned | 2015-12-08T22:14:17Z | |
dc.date.created | August 2014 | |
dc.identifier.isbn | 9783902823625 | |
dc.identifier.uri | http://hdl.handle.net/1885/30166 | |
dc.description.abstract | 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, the proposed controllers allow all agents to both achieve the same velocity and reach a desired shape in finite time. All controllers are totally distributed. Simulations are also provided to validate the proposed control. | |
dc.publisher | International Federation of Automatic Control (IFAC) | |
dc.relation.ispartofseries | 19th IFAC World Congress, 2014 | |
dc.source | Proceedings of the 19th IFAC World Congress, 2014 | |
dc.source.uri | http://www.ifac-papersonline.net/cgi-bin/links/page.cgi?g=World_Congress/Proceedings_of_the_19th_IFAC_World_Congress__2014/more66.html;sb=Authors;so=asc;d=1;browse=c%3E%E2%88%9E%20%3C%2Findex.html | |
dc.title | Finite Time Distance-based Rigid Formation Stabilization and Flocking | |
dc.type | Conference paper | |
local.description.notes | Imported from ARIES | |
dc.date.issued | 2014 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | U5431022xPUB71 | |
local.type.status | Published Version | |
local.contributor.affiliation | Sun, Zhiyong, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Mou, Shaoshuai, Yale University | |
local.contributor.affiliation | Deghat, Mohammad, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Anderson, Brian, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Morse, A Stephen, Yale University | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.startpage | 9183 | |
local.bibliographicCitation.lastpage | 9189 | |
local.identifier.doi | 10.3182/20140824-6-ZA-1003.00662 | |
local.identifier.absseo | 810104 - Emerging Defence Technologies | |
dc.date.updated | 2015-12-08T07:49:24Z | |
local.identifier.scopusID | 2-s2.0-84923377515 | |
Collections | ANU Research Publications |
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