Distance-based rigid formation control with signed area constraints
Date
2017
Authors
Anderson, Brian
Sun, Zhiyong
Sugie, Toshiharu
Azuma, Shun-ichi
Sakurama, Kazunori
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IEEE
Abstract
This paper discusses a formation control problem in which a target formation is defined with both distance and signed area constraints. The control objective is to drive spatially distributed agents to reach a unique target rigid formation shape (up to rotation and translation) with desired inter-agent distances. We define a new potential function by incorporating both distance terms and signed area terms and derive the formation system as a gradient system from the potential function. We start with a triangle formation system with detailed analysis on the equilibrium and convergence property with respect to a weighting gain parameter. We then examine the four-agent double-triangle formation and provide conditions to guarantee that both triangles converge to the desired side distances and signed areas.
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2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Type
Conference paper
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2037-12-31