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Globally asymptotically stable formation control of three agents | IEEE Conference Publication | IEEE Xplore

Globally asymptotically stable formation control of three agents


Abstract:

This paper considers the formation-shape control of three agents moving in the plane. By adding an adaptive vector perturbation to any agent's movement direction, a novel...Show More

Abstract:

This paper considers the formation-shape control of three agents moving in the plane. By adding an adaptive vector perturbation to any agent's movement direction, a novel control strategy is proposed. It is shown that the proposed novel bidirectional 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.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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Conference Location: San Francisco, CA, USA

References

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