This paper examines stability properties of distance-based formations. These are formations encoded by inter-agent relative distances. A negative gradient control law is proposed and is shown to be provably correct when the formation graph is a tree. Moreover, it is shown that the tree structure is a necessary and sufficient condition for distancebased formation stabilization with negative gradient control laws. For graphs that contain cycles, a characterization of the resulting equilibria is given based on the properties of the cycle space of the graph. The results are also applied to flocking motion for double integrator agents. ; QC 20110120
On the stability of distance-based formation control
2008-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Control laws , Cycle spaces , Distance-based , Double integrators , Flocking motions , Formation controls , Formation graphs , Formation stabilizations , Relative distances , Stability properties , Sufficient conditions , Tree structures , Agents , Demodulation , Stability , Trees (mathematics) , Control Engineering , Reglerteknik
DDC: | 629 |
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