DocumentCode :
2851400
Title :
Distance-based formation control using euclidean distance dynamics matrix: Three-agent case
Author :
Kwang-Kyo Oh ; Hyo-Sung Ahn
Author_Institution :
Sch. of Mechatron., Gwangju Inst. of Sci. & Technol. (GIST), Gwangju, South Korea
fYear :
2011
fDate :
June 29 2011-July 1 2011
Firstpage :
4810
Lastpage :
4815
Abstract :
In this paper, we propose a triangular formation control law based on inter-agent distance information for a group of three single-integrator modeled agents on the plane. Although most of existing distance-based formation control laws have been designed by using the gradient of artificial potential functions, the proposed control law is derived from the time derivative of the Euclidean distance matrix associated with the realization of the agent group. Consequently, if the initial and desired formations are not collinear and the information graph of the group is complete, then the desired formation of the group is globally asymptotically stable with all squared inter-agent distance errors exponentially converging to zero. Furthermore, the proposed control law has a coordination property in the sense that the dynamics of all inter-agent distances are fully decoupled. Simulation results support the effectiveness of the proposed control law, demonstrating the coordination property.
Keywords :
asymptotic stability; differentiation; matrix algebra; mobile robots; position control; Euclidean distance dynamics matrix; artificial potential function gradient; coordination property; distance-based formation control; exponentially convergence; globally asymptotic stability; information graph; inter-agent distance information; single-integrator modeled agent; time derivative; triangular formation control; Asymptotic stability; Equations; Euclidean distance; Recurrent neural networks; Simulation; Stability analysis; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
ISSN :
0743-1619
Print_ISBN :
978-1-4577-0080-4
Type :
conf
DOI :
10.1109/ACC.2011.5991056
Filename :
5991056
Link To Document :
بازگشت