Control of Minimally Persistent Leader-Remote-Follower and Coleader Formations in the Plane
This paper solves an $n$ -agent formation shape control problem in the plane. The objective is to design decentralized control laws so that the agents cooperatively restore a prescribed formation shape in the presence of small perturbations from the prescribed shape. We consider two classes of directed, cyclic information architectures associated with so-called minimally persistent formations: leader-remote-follower and coleader. In our framework the formation shape is maintained by controlling...[Show more]
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|Source:||IEEE Transactions on Automatic Control|
|01_Summers_Control_of_Minimally_2011.pdf||712.16 kB||Adobe PDF||Request a copy|
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