On the Stability of Distance-based Formation Control

被引：115

作者：

Dimarogonas, Dimos V. ^{[1
]}

Johansson, Karl H. ^{[1
]}

机构：

[1] Royal Inst Technol KTH, KTH ACCESS Linnaeus Ctr, Sch Elect Engn, Stockholm, Sweden

来源：

47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年

关键词：

D O I：

10.1109/CDC.2008.4739215

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper examines stability properties of distance-based formations. These are formations encoded by inter-agent relative distances. A negative gradient control law is proposed and is shown to be provably correct when the formation graph is a tree. Moreover, it is shown that the tree structure is a necessary and sufficient condition for distance-based formation stabilization with negative gradient control laws. For graphs that contain cycles, a characterization of the resulting equilibria is given based on the properties of the cycle space of the graph. The results are also applied to flocking motion for double integrator agents.

引用

页码：1200 / 1205

页数：6

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