Global stabilization of rigid formations in the plane

被引：84

作者：

Tian, Yu-Ping ^{[1
]}

Wang, Qin ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

来源：

AUTOMATICA | 2013年 / 49卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Multi-agents system; Formation control; Rigid graph; Global stabilization; Gradient control law; STABILITY;

D O I：

10.1016/j.automatica.2013.01.057

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the problem of distributed control of rigid formation shapes in the plane for multi-agent systems. A constructive perturbation method is proposed and combined with the conventional gradient control law. The proposed control law stabilizes the desired rigid formation in a global sense for all initial conditions except the case when a pair of communicating agents happen to have the same initial location. It also avoids collisions between any two communicating agents during the motion. Simulation results are provided to illustrate the effectiveness of the control algorithm. (c) 2013 Elsevier Ltd. All rights reserved.

引用

页码：1436 / 1441

页数：6

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