On the Role and Compensation of Distance Mismatches in Rigid Formation Control for Second-Order Agents

Hector Garcia de Marina 1 Bayu Jayawardhana 2 Ming Cao 3
1 ENAC - Ecole Nationale de l'Aviation Civile
2 ITM
3 University of Groningen [Groningen]
Abstract : This paper presents a robustness analysis of gradient-based formation control law for second-order agents subjected to distance mismatches or constant disturbances. It is shown that, akin to the first-order case, the existence of these mismatches introduces two undesired group behaviors: a distorted final shape and a stationary group motion. We show that such undesired properties can be compensated by combining the gradient-based rigid formation control law and our proposed distributed estimators.
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IFAC-PapersOnLine, Elsevier, 2016, 10th IFAC Symposium on Nonlinear Control Systems NOLCOS 2016 — Monterey, California, USA, 23—25 August 2016, 49 (18), pp 398-403. 〈10.1016/j.ifacol.2016.10.198〉
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https://hal-enac.archives-ouvertes.fr/hal-01437306
Contributeur : Laurence Porte <>
Soumis le : mardi 17 janvier 2017 - 10:39:10
Dernière modification le : mardi 30 janvier 2018 - 13:50:03

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Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao. On the Role and Compensation of Distance Mismatches in Rigid Formation Control for Second-Order Agents. IFAC-PapersOnLine, Elsevier, 2016, 10th IFAC Symposium on Nonlinear Control Systems NOLCOS 2016 — Monterey, California, USA, 23—25 August 2016, 49 (18), pp 398-403. 〈10.1016/j.ifacol.2016.10.198〉. 〈hal-01437306〉

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