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Generalized controllers for rigid formation stabilization with application to event-based controller design

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dc.contributor.authorSun, Zhiyong
dc.contributor.authorLiu, Qingchen
dc.contributor.authorYu, Changbin (Brad)
dc.contributor.authorAnderson, Brian
dc.coverage.spatialLinz, Austria
dc.date.accessioned2018-11-30T01:19:32Z
dc.date.available2018-11-30T01:19:32Z
dc.date.createdJuly 15-17 2015
dc.date.issued2015
dc.date.updated2018-11-29T08:21:17Z
dc.description.abstractThis paper discusses generalized controllers for rigid formation shape stabilization. We provide unified analysis to show convergence using different controllers reported in the literature, and further prove an exponential stability of the formation system when using the general form of shape controllers. We also show that different agents can use different controllers for controlling different distances to achieve a desired rigid formation, which enables the implementation of heterogeneous agents in practice for formation shape control. We further propose an event-triggered rigid formation control scheme based on the generalized controllers. The triggering condition, event function and convergence analysis are discussed
dc.format.mimetypeapplication/pdfen_AU
dc.identifier.isbn9783952426944
dc.identifier.urihttp://hdl.handle.net/1885/154101
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesEuropean Control Conference ECC 2015
dc.sourceProceedings of the European Control Conference (ECC 2015)
dc.titleGeneralized controllers for rigid formation stabilization with application to event-based controller design
dc.typeConference paper
dcterms.accessRightsOpen Accessen_AU
local.bibliographicCitation.lastpage222
local.bibliographicCitation.startpage217
local.contributor.affiliationSun, Zhiyong, College of Engineering and Computer Science, ANU
local.contributor.affiliationLiu, Qingchen, College of Engineering and Computer Science, ANU
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.contributor.authoruidSun, Zhiyong, u5227943
local.contributor.authoruidLiu, Qingchen, u5329293
local.contributor.authoruidYu, Changbin (Brad), u4168516
local.contributor.authoruidAnderson, Brian, u8104642
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.absseo970109 - Expanding Knowledge in Engineering
local.identifier.ariespublicationu1008059xPUB49
local.identifier.doi10.1109/ECC.2015.7330548
local.identifier.scopusID2-s2.0-84963795968
local.type.statusPublished Version

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