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]

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.

Mots clés: Formation Control; Rigid Formation; Motion Control; Second-Order dynamics

Domaines: Automatique / Robotique

Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao. On the Role and Compensation of Distance Mismatches in Rigid Formation Control for Second-Order Agents. 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2016), Aug 2016, Monterey, CA, United States. pp.398-403, ⟨10.1016/j.ifacol.2016.10.198⟩. ⟨hal-01437306⟩