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Topology design for distributed formation control towards optimal convergence rate

Huang, Huang; Yu, Changbin (Brad); Gusrialdi, Azwirman; Hirche, Sandra


This paper considers the optimal local leader selection for a leader-first follower minimally persistent formation system. The objective is to maximize the local convergence rate of the followers to the unique equilibrium under small perturbations. Except for the leader and the first follower, every other agent in the system follows exactly two agents called the local leaders and is responsible for maintaining a pair of desired distances from two local leaders. The control algorithm is the...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Conference paper
Source: Proceedings of the American Control Conference 2012


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