Stabilization of stiff formations with a mix of direction and distance constraints

Bishop, AN; Summers, TH; Anderson, BDO

Stabilization of stiff formations with a mix of direction and distance constraints

Bishop, AN

Summers, TH Anderson, BDO

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the IEEE International Conference on Control Applications, 2013, pp. 1194 - 1199
Issue Date:: 2013-01-01

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Field	Value	Language
dc.contributor.author	Bishop, AN https://orcid.org/0000-0001-8581-8562	en_US
dc.contributor.author	Summers, TH	en_US
dc.contributor.author	Anderson, BDO	en_US
dc.date.issued	2013-01-01	en_US
dc.identifier.citation	Proceedings of the IEEE International Conference on Control Applications, 2013, pp. 1194 - 1199	en_US
dc.identifier.isbn	9781479915590	en_US
dc.identifier.uri	http://hdl.handle.net/10453/119947
dc.description.abstract	Heterogenous formation shape control with a mix of inter-agent distance and bearing constraints involves the design of distributed control laws that ensure the formation moves such that these inter-agent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve the mixed constraint formation control problem with an arbitrary number of agents. A gradient control law is proposed based on the mathematical notion of a stiff formation structure and a corresponding stiff constraint matrix (which has origins in graph theory). This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only or bearing-only constraints are typically maintained. A stability analysis is sketched and a number of other technical results are given. © 2013 IEEE.	en_US
dc.relation	http://purl.org/au-research/grants/arc/DE120102873
dc.relation.ispartof	Proceedings of the IEEE International Conference on Control Applications	en_US
dc.relation.isbasedon	10.1109/CCA.2013.6662914	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Stabilization of stiff formations with a mix of direction and distance constraints	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access	*
pubs.publication-status	Published	en_US

Abstract:

Heterogenous formation shape control with a mix of inter-agent distance and bearing constraints involves the design of distributed control laws that ensure the formation moves such that these inter-agent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve the mixed constraint formation control problem with an arbitrary number of agents. A gradient control law is proposed based on the mathematical notion of a stiff formation structure and a corresponding stiff constraint matrix (which has origins in graph theory). This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only or bearing-only constraints are typically maintained. A stability analysis is sketched and a number of other technical results are given. © 2013 IEEE.

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http://hdl.handle.net/10453/119947