Formation Shape Control: Global Asymptotic Stability of a Four-Agent Formation
This paper considers formation shape control of a team of four agents in the plane, motivated by an example from . We utilize bidirectional, gradient-based interagent distance control laws which are designed so that the agents cooperatively achieve a specified desired formation shape. When every interagent distance is actively controlled (i.e. the information architecture is a complete graph), there may exist equilibrium formation shapes with incorrect interagent distances. We prove that any...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of IEEE Conference on Decision and Control and Chinese Control Conference 2009|
|01_Summers_Formation_Shape_Control:_2009.pdf||246.44 kB||Adobe PDF||Request a copy|
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.