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Distributed Robust Adaptive Gradient Controller in Distance-Based Formation Control With Exogenous Disturbance | IEEE Journals & Magazine | IEEE Xplore

Distributed Robust Adaptive Gradient Controller in Distance-Based Formation Control With Exogenous Disturbance


Abstract:

In this article, we present a distributed robust adaptive gradient controller for distance-based formation systems with exogenous disturbances. Based on the proposed cont...Show More

Abstract:

In this article, we present a distributed robust adaptive gradient controller for distance-based formation systems with exogenous disturbances. Based on the proposed controller, we consider two undirected formation topologies: Minimally infinitesimally rigid formation and nonminimally infinitesimally rigid formation. For both formation systems, we show that the distributed robust adaptive gradient controller guarantees a local stability of formation systems with exogenous disturbances. Furthermore, an upper-boundedness set of squared-distance error is obtained based on Lyapunov stability analysis for minimally infinitesimally rigid formation systems. We verify the validity of the theoretical results through numerical simulations.
Published in: IEEE Transactions on Automatic Control ( Volume: 66, Issue: 6, June 2021)
Page(s): 2868 - 2874
Date of Publication: 20 July 2020

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