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.
Keywords : Formation Control Rigid Formation Motion Control Second-Order dynamics
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Communication dans un congrès
10th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2016), Aug 2016, Monterey, CA, United States. 49 (18), pp.398-403, 2016, 10th IFAC Symposium on Nonlinear Control Systems. 〈10.1016/j.ifacol.2016.10.198〉
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Soumis le : jeudi 5 juillet 2018 - 15:46:47
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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. 49 (18), pp.398-403, 2016, 10th IFAC Symposium on Nonlinear Control Systems. 〈10.1016/j.ifacol.2016.10.198〉. 〈hal-01437306〉

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