Distance-Based Formation Control With Bounded Disturbances

被引：22

作者：

Van Vu, Dung ^{[1
]}

Trinh, Minh Hoang ^{[1
]}

Nguyen, Phuoc Doan ^{[1
]}

Ahn, Hyo-Sung ^{[2
]}

机构：

[1] Hanoi Univ Sci & Technol, Sch Elect Engn, Dept Automat Control, Hanoi 11615, Vietnam

[2] Gwangju Inst Sci & Technol, Sch Mech Engn, Gwangju 500712, South Korea

来源：

IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 02期

基金：

新加坡国家研究基金会;

关键词：

Rigidity; Stability analysis; Shape; Lyapunov methods; Simulation; Robustness; Nonlinear equations; Formation control; graph rigidity; robustness; RIGID FORMATIONS; STABILIZATION; STABILITY;

D O I：

10.1109/LCSYS.2020.3003418

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this letter, we study distance-based formation control of single- and double-integrator modeled agents with unknown bounded disturbances. We propose distributed control laws to simultaneously achieve the desired formation shape and eliminate the effects of disturbances. The stability of the systems under the proposed control laws is analyzed based on Lyapunov stability theory of nonsmooth systems and Barbalat's lemma. Further, sufficient conditions are given to ensure the system to approach the set of desired formation. Finally, simulation results are provided to support the analysis.

引用

页码：451 / 456

页数：6

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