• DocumentCode
    3168841
  • 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
  • fYear
    2012
  • fDate
    10-13 Dec. 2012
  • Firstpage
    1445
  • Lastpage
    1450
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
  • Conference_Location
    Maui, HI
  • ISSN
    0743-1546
  • Print_ISBN
    978-1-4673-2065-8
  • Electronic_ISBN
    0743-1546
  • Type

    conf

  • DOI
    10.1109/CDC.2012.6426284
  • Filename
    6426284
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3168841