Distance-based formation shape stabilisation via event-triggered control

Qingchen Liu; Zhiyong Sun; Jiahu Qin; Changbin Yu

doi:10.1109/ChiCC.2015.7260738

Distance-based formation shape stabilisation via event-triggered control

Qingchen Liu, Zhiyong Sun, Jiahu Qin, Changbin Yu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

Existing results on distance-based rigid formation stabilization commonly require continuous measurements and control update. In this paper, we consider an event-triggered scheme for distance-based formation control problem. We prove the local exponential stability of this event-driven system for stabilizing formations which are infinitesimally and minimally rigid. Furthermore, we prove that Zeno-behavior does not exist and obtain a strict positive lower bound in the inter-event time. Simulations are also provided to verify the proposed controller.

Original language	English
Title of host publication	Proceedings of the 34th Chinese Control Conference, CCC 2015
Editors	Qianchuan Zhao, Shirong Liu
Publisher	IEEE Computer Society
Pages	6948-6953
Number of pages	6
ISBN (Electronic)	9789881563897
DOIs	https://doi.org/10.1109/ChiCC.2015.7260738
Publication status	Published - 11 Sept 2015
Event	34th Chinese Control Conference, CCC 2015 - Hangzhou, China Duration: 28 Jul 2015 → 30 Jul 2015

Publication series

Name	Chinese Control Conference, CCC
Volume	2015-September
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	34th Chinese Control Conference, CCC 2015
Country/Territory	China
City	Hangzhou
Period	28/07/15 → 30/07/15

Access to Document

10.1109/ChiCC.2015.7260738

Cite this

@inproceedings{ec2e38bc32e7412b9bc84ffcd2b3196e,

title = "Distance-based formation shape stabilisation via event-triggered control",

abstract = "Existing results on distance-based rigid formation stabilization commonly require continuous measurements and control update. In this paper, we consider an event-triggered scheme for distance-based formation control problem. We prove the local exponential stability of this event-driven system for stabilizing formations which are infinitesimally and minimally rigid. Furthermore, we prove that Zeno-behavior does not exist and obtain a strict positive lower bound in the inter-event time. Simulations are also provided to verify the proposed controller.",

keywords = "Shape stabilization, event-triggered, graph rigidity",

author = "Qingchen Liu and Zhiyong Sun and Jiahu Qin and Changbin Yu",

note = "Publisher Copyright: {\textcopyright} 2015 Technical Committee on Control Theory, Chinese Association of Automation.; 34th Chinese Control Conference, CCC 2015 ; Conference date: 28-07-2015 Through 30-07-2015",

year = "2015",

month = sep,

day = "11",

doi = "10.1109/ChiCC.2015.7260738",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "6948--6953",

editor = "Qianchuan Zhao and Shirong Liu",

booktitle = "Proceedings of the 34th Chinese Control Conference, CCC 2015",

address = "United States",

}

Liu, Q, Sun, Z, Qin, J & Yu, C 2015, Distance-based formation shape stabilisation via event-triggered control. in Q Zhao & S Liu (eds), Proceedings of the 34th Chinese Control Conference, CCC 2015., 7260738, Chinese Control Conference, CCC, vol. 2015-September, IEEE Computer Society, pp. 6948-6953, 34th Chinese Control Conference, CCC 2015, Hangzhou, China, 28/07/15. https://doi.org/10.1109/ChiCC.2015.7260738

Distance-based formation shape stabilisation via event-triggered control. / Liu, Qingchen; Sun, Zhiyong; Qin, Jiahu et al.
Proceedings of the 34th Chinese Control Conference, CCC 2015. ed. / Qianchuan Zhao; Shirong Liu. IEEE Computer Society, 2015. p. 6948-6953 7260738 (Chinese Control Conference, CCC; Vol. 2015-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distance-based formation shape stabilisation via event-triggered control

AU - Liu, Qingchen

AU - Sun, Zhiyong

AU - Qin, Jiahu

AU - Yu, Changbin

PY - 2015/9/11

Y1 - 2015/9/11

N2 - Existing results on distance-based rigid formation stabilization commonly require continuous measurements and control update. In this paper, we consider an event-triggered scheme for distance-based formation control problem. We prove the local exponential stability of this event-driven system for stabilizing formations which are infinitesimally and minimally rigid. Furthermore, we prove that Zeno-behavior does not exist and obtain a strict positive lower bound in the inter-event time. Simulations are also provided to verify the proposed controller.

AB - Existing results on distance-based rigid formation stabilization commonly require continuous measurements and control update. In this paper, we consider an event-triggered scheme for distance-based formation control problem. We prove the local exponential stability of this event-driven system for stabilizing formations which are infinitesimally and minimally rigid. Furthermore, we prove that Zeno-behavior does not exist and obtain a strict positive lower bound in the inter-event time. Simulations are also provided to verify the proposed controller.

KW - Shape stabilization

KW - event-triggered

KW - graph rigidity

UR - http://www.scopus.com/inward/record.url?scp=84946605607&partnerID=8YFLogxK

U2 - 10.1109/ChiCC.2015.7260738

DO - 10.1109/ChiCC.2015.7260738

M3 - Conference contribution

T3 - Chinese Control Conference, CCC

SP - 6948

EP - 6953

BT - Proceedings of the 34th Chinese Control Conference, CCC 2015

A2 - Zhao, Qianchuan

A2 - Liu, Shirong

PB - IEEE Computer Society

T2 - 34th Chinese Control Conference, CCC 2015

Y2 - 28 July 2015 through 30 July 2015

ER -

Distance-based formation shape stabilisation via event-triggered control

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this