Finite-time convergence control for acyclic persistent formations

Myoung Chul Park; Zhiyong Sun; Kwang Kyo Oh; Brian D.O. Anderson; Hyo Sung Ahn

doi:10.1109/ISIC.2014.6967627

Finite-time convergence control for acyclic persistent formations

Myoung Chul Park, Zhiyong Sun, Kwang Kyo Oh, Brian D.O. Anderson, Hyo Sung Ahn

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

9 Citations (Scopus)

Abstract

In this paper, we propose a distance-based control law for acyclic persistent formations of mobile agents. The proposed normalized gradient law, which can be implemented distributively by using local measurements, allows agents to achieve their desired formation shape specified by inter-agent distance constraints in finite time, with local but not global con-vergence. We show some local finite-time convergence properties including an upper bound for the convergence time. Further the existence of attractive incorrect equilibrium formations is demonstrated. Simulation results are provided for illustration.

Original language	English
Title of host publication	2014 IEEE International Symposium on Intelligent Control, ISIC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1608-1613
Number of pages	6
ISBN (Electronic)	9781479974061
DOIs	https://doi.org/10.1109/ISIC.2014.6967627
Publication status	Published - 25 Nov 2014
Event	2014 IEEE International Symposium on Intelligent Control, ISIC 2014 - Juan Les Pins, France Duration: 8 Oct 2014 → 10 Oct 2014

Publication series

Name	2014 IEEE International Symposium on Intelligent Control, ISIC 2014

Conference

Conference	2014 IEEE International Symposium on Intelligent Control, ISIC 2014
Country/Territory	France
City	Juan Les Pins
Period	8/10/14 → 10/10/14

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10.1109/ISIC.2014.6967627

Cite this

Park, M. C., Sun, Z., Oh, K. K., Anderson, B. D. O., & Ahn, H. S. (2014). Finite-time convergence control for acyclic persistent formations. In 2014 IEEE International Symposium on Intelligent Control, ISIC 2014 (pp. 1608-1613). Article 6967627 (2014 IEEE International Symposium on Intelligent Control, ISIC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIC.2014.6967627

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title = "Finite-time convergence control for acyclic persistent formations",

abstract = "In this paper, we propose a distance-based control law for acyclic persistent formations of mobile agents. The proposed normalized gradient law, which can be implemented distributively by using local measurements, allows agents to achieve their desired formation shape specified by inter-agent distance constraints in finite time, with local but not global con-vergence. We show some local finite-time convergence properties including an upper bound for the convergence time. Further the existence of attractive incorrect equilibrium formations is demonstrated. Simulation results are provided for illustration.",

author = "Park, {Myoung Chul} and Zhiyong Sun and Oh, {Kwang Kyo} and Anderson, {Brian D.O.} and Ahn, {Hyo Sung}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Symposium on Intelligent Control, ISIC 2014 ; Conference date: 08-10-2014 Through 10-10-2014",

year = "2014",

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doi = "10.1109/ISIC.2014.6967627",

language = "English",

series = "2014 IEEE International Symposium on Intelligent Control, ISIC 2014",

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Park, MC, Sun, Z, Oh, KK, Anderson, BDO & Ahn, HS 2014, Finite-time convergence control for acyclic persistent formations. in 2014 IEEE International Symposium on Intelligent Control, ISIC 2014., 6967627, 2014 IEEE International Symposium on Intelligent Control, ISIC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1608-1613, 2014 IEEE International Symposium on Intelligent Control, ISIC 2014, Juan Les Pins, France, 8/10/14. https://doi.org/10.1109/ISIC.2014.6967627

Finite-time convergence control for acyclic persistent formations. / Park, Myoung Chul; Sun, Zhiyong; Oh, Kwang Kyo et al.
2014 IEEE International Symposium on Intelligent Control, ISIC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1608-1613 6967627 (2014 IEEE International Symposium on Intelligent Control, ISIC 2014).

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

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AB - In this paper, we propose a distance-based control law for acyclic persistent formations of mobile agents. The proposed normalized gradient law, which can be implemented distributively by using local measurements, allows agents to achieve their desired formation shape specified by inter-agent distance constraints in finite time, with local but not global con-vergence. We show some local finite-time convergence properties including an upper bound for the convergence time. Further the existence of attractive incorrect equilibrium formations is demonstrated. Simulation results are provided for illustration.

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T2 - 2014 IEEE International Symposium on Intelligent Control, ISIC 2014

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Finite-time convergence control for acyclic persistent formations

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