Global convergence of formation without global information in three-dimensional space | IEEE Conference Publication | IEEE Xplore

Global convergence of formation without global information in three-dimensional space


Abstract:

This paper proposes a new distributed formation control law for the multi-agent systems in three-dimensional space. It is a contribution of this paper that a global conve...Show More

Abstract:

This paper proposes a new distributed formation control law for the multi-agent systems in three-dimensional space. It is a contribution of this paper that a global convergence is achieved without any global information. The cycle-free persistent graph in three-dimensional space is considered, and the system is completely distributed and decentralized from the perspective of local sensing. It is assumed that each agent does not know information of the frame of other agents; but it can measure only relative positions of neighbors. The stability and convergence of the system is analyzed mathematically, and the simulation is performed to support the analytic results.
Date of Conference: 17-20 December 2017
Date Added to IEEE Xplore: 08 February 2018
ISBN Information:
Conference Location: Gold Coast, QLD, Australia

References

References is not available for this document.