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

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Conference Proceeding
Proceedings of the IEEE International Conference on Control Applications, 2013, pp. 1194 - 1199
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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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