DocumentCode
84138
Title
On Global Stability of Planar Formations
Author
Belabbas, M.A.
Author_Institution
Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Volume
58
Issue
8
fYear
2013
fDate
Aug. 2013
Firstpage
2148
Lastpage
2153
Abstract
Formation control is concerned with the design of control laws that stabilize agents at given distances from each other, with the constraint that an agent´s dynamics only depends on a subset of other agents. We show in this technical note that a broad class of control laws fails to stabilize a simple formation with four agents. The novelty of the approach used in this technical note lies in the use of bifurcation theory to show that, for almost all control laws, there exists a stable undesired equilibrium.
Keywords
bifurcation; multi-robot systems; robot dynamics; stability; agent dynamics; agent stabilization; bifurcation theory; control law design; global stability; planar formation; Bifurcation; Eigenvalues and eigenfunctions; Logistics; Robustness; Stability analysis; Vectors; Bifurcations; decentralized control; formation control; global stability; singularities;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2013.2251804
Filename
6475974
Link To Document