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Ratio-of-Distance Rigidity Theory With Application to Similar Formation Control
- Source :
- IEEE Transactions on Automatic Control. 65:2598-2611
- Publication Year :
- 2020
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2020.
-
Abstract
- This paper develops a ratio-of-distance (RoD) rigidity theory to study when a framework can be uniquely determined by a set of RoD constraints up to similar transformations (translation, rotation, scaling, and reflection). In particular, a framework is specified by a set of RoD constraints (the RoD of a pair of edges joining a common vertex) instead of distance, bearing, and angle constraints assumed in existing literature. Its relations to three existing rigidity theories (distance, bearing, and angle rigidity theories) are established. The proposed RoD rigidity theory is further applied to the RoD-based similar formation stabilization problem, where the desired formation shape is expressed as a set of RoD constraints. Finally, numerical simulations are presented to illustrate the effectiveness of the theoretical results. Nanyang Technological University National Research Foundation (NRF) Accepted version
- Subjects :
- 0209 industrial biotechnology
Electrical and electronic engineering::Control and instrumentation::Control engineering [Engineering]
Mathematical analysis
Rigidity Theory
Formation Control
02 engineering and technology
Computer Science Applications
Condensed Matter::Soft Condensed Matter
020901 industrial engineering & automation
Rigidity (electromagnetism)
Aerospace electronics
Electrical and electronic engineering::Control and instrumentation::Robotics [Engineering]
Control and Systems Engineering
Electrical and Electronic Engineering
Rigidity theory
Scaling
Mathematics
Subjects
Details
- ISSN :
- 23343303 and 00189286
- Volume :
- 65
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Automatic Control
- Accession number :
- edsair.doi.dedup.....5ed3e3b85882c1a526ed6f5948ec7c94