Abstract
This paper considers the formation-shape control of three agents in the plane. By adding an adaptive perturbation to any agent’s movement direction, a novel control strategy is proposed. It is shown that the proposed novel control law can not only guarantee the global asymptotical stability of the desired formation shape, but also ensure the collision avoidance of agents between each other. Simulation results are provided to illustrate the effectiveness of the control algorithm.
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This work was supported by National Nature Science Foundation under Grant Nos. 60974041, 60934006, and Research Fund for the Doctoral Program of Higher Education of China under Grant No. 20090092110021.
This paper was recommended for publication by Editor Jing HAN.
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Wang, Q., Tian, YP. & Xu, Y. Globally asymptotically stable formation control of three agents. J Syst Sci Complex 25, 1068–1079 (2012). https://doi.org/10.1007/s11424-012-0332-x
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DOI: https://doi.org/10.1007/s11424-012-0332-x