Formation control of mobile agents based on inter-agent distance dynamics

被引：194

作者：

Oh, Kwang-Kyo ^{[1
]}

Ahn, Hyo-Sung ^{[1
]}

机构：

[1] GIST, Sch Mechatron, Kwangju, South Korea

来源：

AUTOMATICA | 2011年 / 47卷 / 10期

基金：

新加坡国家研究基金会;

关键词：

Multi-agent systems; Formation control; Graph rigidity; Euclidean distance matrix; Distance dynamics; RIGIDITY; GRAPHS; SYSTEMS;

D O I：

10.1016/j.automatica.2011.08.019

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a novel formation control strategy based on inter-agent distances for single-integrator modeled agents in the plane. Attempting to directly control the inter-agent distances, we derive a control law from the distance dynamics. The proposed control law achieves the local asymptotic stability of infinitesimally rigid formations. Triangular infinitesimally rigid formations are globally asymptotically stable under the proposed control law, with all squared distance errors exponentially and monotonically converging to zero. As an extension of existing results, the stability analysis in this paper reveals that any control laws related with the gradient law by multiplication of a positive matrix ensure the local asymptotic stability of infinitesimally rigid formations. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：2306 / 2312

页数：7

共 20 条

[1] On the stable equilibrium points of gradient systems [J].