Title :
Robustness issues with undirected formations
Author :
Belabbas, A. ; Mou, S. ; Morse, A.S. ; Anderson, B.D.O.
Author_Institution :
Univ. of Illinois, Urbana, IL, USA
Abstract :
It is shown for any rigidity-based, undirected triangular formation of the type studied in [1], that if neighboring agents in the formation have slightly different understandings of what the desired distance between them is suppose to be, then almost for certain, the trajectory of the resulting distorted but rigid formation will converge exponentially fast to a closed orbit in ℝ2 which is traversed periodically at a single sinusoidal frequency.
Keywords :
asymptotic stability; convergence; distributed control; mobile agents; multivariable control systems; closed orbit; exponential convergence; mobile agents; rigid formation; rigidity-based undirected triangular formation; robustness issues; sinusoidal frequency; Differential equations; Equations; Orbits; Robustness; Symmetric matrices; Trajectory; Vectors;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426284
