TY - GEN
T1 - Distance-based planar formation control using orthogonal variables
AU - Liu, Tairan
AU - De Queiroz, Marcio
AU - Sahebsara, Farid
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary feedback variable for the purpose of preventing formation ambiguities. We introduce two variables that form an orthogonal space and uniquely characterize a triangular formation in two dimensions. We show that the resulting controller ensures the almost-global asymptotic stability of the desired formation for an n-agent system without conditions on the triangulations of the desired formation or control gains.
AB - In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary feedback variable for the purpose of preventing formation ambiguities. We introduce two variables that form an orthogonal space and uniquely characterize a triangular formation in two dimensions. We show that the resulting controller ensures the almost-global asymptotic stability of the desired formation for an n-agent system without conditions on the triangulations of the desired formation or control gains.
UR - https://www.scopus.com/pages/publications/85094100111
U2 - 10.1109/CCTA41146.2020.9206330
DO - 10.1109/CCTA41146.2020.9206330
M3 - Conference contribution
AN - SCOPUS:85094100111
T3 - CCTA 2020 - 4th IEEE Conference on Control Technology and Applications
SP - 64
EP - 69
BT - CCTA 2020 - 4th IEEE Conference on Control Technology and Applications
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE Conference on Control Technology and Applications, CCTA 2020
Y2 - 24 August 2020 through 26 August 2020
ER -