Conference papers
On the Role and Compensation of Distance Mismatches in Rigid Formation Control for Second-Order Agents
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.
Cited literature [25 references]
https://hal-enac.archives-ouvertes.fr/hal-01437306
Contributor : Laurence Porte <>
Submitted on : Thursday, July 5, 2018 - 3:46:47 PM
Last modification on : Friday, July 20, 2018 - 10:59:28 AM
Document(s) archivé(s) le : Monday, October 1, 2018 - 6:37:05 PM
Contributor : Laurence Porte <>
Submitted on : Thursday, July 5, 2018 - 3:46:47 PM
Last modification on : Friday, July 20, 2018 - 10:59:28 AM
Document(s) archivé(s) le : Monday, October 1, 2018 - 6:37:05 PM
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