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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.
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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. 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⟩

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