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Distance-Based Control of - Formations in General Space With Almost Global Convergence | IEEE Journals & Magazine | IEEE Xplore

Distance-Based Control of \mathcal {K}_{n} Formations in General Space With Almost Global Convergence


Abstract:

In this paper, we propose a distance-based formation control strategy for a group of mobile agents to achieve almost global convergence to a target formation shape provid...Show More

Abstract:

In this paper, we propose a distance-based formation control strategy for a group of mobile agents to achieve almost global convergence to a target formation shape provided that the formation is represented by a complete graph, and each agent is governed by a single-integrator model. The fundamental idea of achieving almost global convergence is to use a virtual formation of which the dimension is augmented with some virtual coordinates. We define a cost function associated with the virtual formation and apply the gradient-descent algorithm to the cost function so that the function has a global minimum at the target formation shape. We show that all agents finally achieve the target formation shape for almost all initial conditions under the proposed control law.
Published in: IEEE Transactions on Automatic Control ( Volume: 63, Issue: 8, August 2018)
Page(s): 2678 - 2685
Date of Publication: 22 November 2017

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