Exponential stability for formation control systems with generalized controllers: A unified approach

Zhiyong Sun; Shaoshuai Mou; Brian D.O. Anderson; Ming Cao

doi:10.1016/j.sysconle.2016.02.022

Exponential stability for formation control systems with generalized controllers: A unified approach

Zhiyong Sun^*, Shaoshuai Mou, Brian D.O. Anderson, Ming Cao

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

115 Citations (Scopus)

Abstract

This paper discusses generalized controllers for distance-based rigid formation shape stabilization and aims to provide a unified approach for the convergence analysis. We consider two types of formation control systems according to different characterizations of target formations: minimally rigid target formation and non-minimally rigid target formation. For the former case, we firstly prove the local exponential stability for rigid formation systems when using a general form of shape controllers with certain properties. From this viewpoint, different formation controllers proposed in previous literature can be included in a unified framework. We then extend the result to the case that the target formation is non-minimally rigid, and show that exponential stability of the formation system is still guaranteed with generalized controllers.

Original language	English
Pages (from-to)	50-57
Number of pages	8
Journal	Systems and Control Letters
Volume	93
DOIs	https://doi.org/10.1016/j.sysconle.2016.02.022
Publication status	Published - 1 Jul 2016

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title = "Exponential stability for formation control systems with generalized controllers: A unified approach",

abstract = "This paper discusses generalized controllers for distance-based rigid formation shape stabilization and aims to provide a unified approach for the convergence analysis. We consider two types of formation control systems according to different characterizations of target formations: minimally rigid target formation and non-minimally rigid target formation. For the former case, we firstly prove the local exponential stability for rigid formation systems when using a general form of shape controllers with certain properties. From this viewpoint, different formation controllers proposed in previous literature can be included in a unified framework. We then extend the result to the case that the target formation is non-minimally rigid, and show that exponential stability of the formation system is still guaranteed with generalized controllers.",

keywords = "Distance-based formations, Exponential convergence, Graph rigidity",

author = "Zhiyong Sun and Shaoshuai Mou and Anderson, {Brian D.O.} and Ming Cao",

year = "2016",

month = jul,

day = "1",

doi = "10.1016/j.sysconle.2016.02.022",

language = "English",

volume = "93",

pages = "50--57",

journal = "Systems and Control Letters",

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TY - JOUR

T1 - Exponential stability for formation control systems with generalized controllers

T2 - A unified approach

AU - Sun, Zhiyong

AU - Mou, Shaoshuai

AU - Anderson, Brian D.O.

AU - Cao, Ming

PY - 2016/7/1

Y1 - 2016/7/1

N2 - This paper discusses generalized controllers for distance-based rigid formation shape stabilization and aims to provide a unified approach for the convergence analysis. We consider two types of formation control systems according to different characterizations of target formations: minimally rigid target formation and non-minimally rigid target formation. For the former case, we firstly prove the local exponential stability for rigid formation systems when using a general form of shape controllers with certain properties. From this viewpoint, different formation controllers proposed in previous literature can be included in a unified framework. We then extend the result to the case that the target formation is non-minimally rigid, and show that exponential stability of the formation system is still guaranteed with generalized controllers.

AB - This paper discusses generalized controllers for distance-based rigid formation shape stabilization and aims to provide a unified approach for the convergence analysis. We consider two types of formation control systems according to different characterizations of target formations: minimally rigid target formation and non-minimally rigid target formation. For the former case, we firstly prove the local exponential stability for rigid formation systems when using a general form of shape controllers with certain properties. From this viewpoint, different formation controllers proposed in previous literature can be included in a unified framework. We then extend the result to the case that the target formation is non-minimally rigid, and show that exponential stability of the formation system is still guaranteed with generalized controllers.

KW - Distance-based formations

KW - Exponential convergence

KW - Graph rigidity

UR - http://www.scopus.com/inward/record.url?scp=84963684512&partnerID=8YFLogxK

U2 - 10.1016/j.sysconle.2016.02.022

DO - 10.1016/j.sysconle.2016.02.022

M3 - Article

SN - 0167-6911

VL - 93

SP - 50

EP - 57

JO - Systems and Control Letters

JF - Systems and Control Letters

ER -

Exponential stability for formation control systems with generalized controllers: A unified approach

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