Formation Shape Control: Global Asymptotic Stability of a Four-Agent Formation
Date
2009
Authors
Summers, Tyler
Yu, Changbin (Brad)
Anderson, Brian
Dasgupta, Soura
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
This paper considers formation shape control of a team of four agents in the plane, motivated by an example from [1]. 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 incorrect equilibrium formation shape is locally unstable for formations with internal angles that satisfy an acuteness condition and thereby establish that the desired formation shape, for all practical purposes, is globally asymptotically stable.
Description
Keywords
Keywords: Complete graphs; Distance control; Equilibrium formation; Global asymptotic stability; Globally asymptotically stable; Gradient based; Information architectures; Internal angles; Shape control; Asymptotic stability; Knowledge management; Asymptotic analys
Citation
Collections
Source
Proceedings of IEEE Conference on Decision and Control and Chinese Control Conference 2009
Type
Conference paper
Book Title
Entity type
Access Statement
License Rights
Restricted until
2037-12-31
Downloads
File
Description