TY - GEN
T1 - Controlling rectangular formations
AU - Dasgupta, Soura
AU - Anderson, Brian D.O.
AU - Yu, Changbin
AU - Summers, Tyler H.
PY - 2011
Y1 - 2011
N2 - We consider formation shape control of four point agents in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a standard control law, there may exist equilibrium formations with incorrect interagent distances. This paper studies such equilibria and derives two main results. That each such incorrect equilibrium is attached to at most one desired formation. That all such equilibria are unstable if the desired formation is a rectangle.
AB - We consider formation shape control of four point agents in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a standard control law, there may exist equilibrium formations with incorrect interagent distances. This paper studies such equilibria and derives two main results. That each such incorrect equilibrium is attached to at most one desired formation. That all such equilibria are unstable if the desired formation is a rectangle.
UR - http://www.scopus.com/inward/record.url?scp=84856087857&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9780858259874
T3 - Proceedings of the 2011 Australian Control Conference, AUCC 2011
SP - 44
EP - 49
BT - Proceedings of the 2011 Australian Control Conference, AUCC 2011
T2 - 1st Australian Control Conference, AUCC 2011
Y2 - 10 November 2011 through 11 November 2011
ER -