Back to Search Start Over

Distributed stabilization control of rigid formations with prescribed orientation.

Authors :
Sun, Zhiyong
Park, Myoung-Chul
Anderson, Brian D.O.
Ahn, Hyo-Sung
Source :
Automatica. Apr2017, Vol. 78, p250-257. 8p.
Publication Year :
2017

Abstract

Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed orientations in both 2-D and 3-D spaces. The proposed controllers involve the commonly-used gradient descent control for shape stabilization, and an additional term to control the directions of certain relative position vectors associated with certain chosen agents. In this control framework, we show the minimal number of agents which should have knowledge of a global coordinate system (2 agents for a 2-D rigid formation and 3 agents for a 3-D rigid formation), while all other agents do not require any global coordinate knowledge or any coordinate frame alignment to implement the proposed control. The exponential convergence to the desired rigid shape and formation orientation is also proved. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
00051098
Volume :
78
Database :
Academic Search Index
Journal :
Automatica
Publication Type :
Academic Journal
Accession number :
121493124
Full Text :
https://doi.org/10.1016/j.automatica.2016.12.031