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Finite-time convergence control for acyclic persistent formations

Park, Myoung-Chul; Sun, Zhiyong; Oh, Kwang-Kyo; Anderson, Brian; Ahn, Hyo-Sung


In this paper, we propose a distance-based control law for acyclic persistent formations of mobile agents. The proposed normalized gradient law, which can be implemented distributively by using local measurements, allows agents to achieve their desired formation shape specified by inter-agent distance constraints in finite time, with local but not global con-vergence. We show some local finite-time convergence properties including an upper bound for the convergence time. Further the existence...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: 2014 IEEE International Symposium on Intelligent Control, ISIC 2014
DOI: 10.1109/ISIC.2014.6967627


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