@inproceedings{4fbbd20ff8614c95a373bd734b04ccd4,
title = "Finite time distance-based rigid formation stabilization and flocking",
abstract = "Most of the existing results on distributed distance-based rigid formation control establish asymptotic and often exponentially asymptotic convergence. To further improve the convergence rate, we explain in this paper how to modify existing controllers to obtain finite time stability. For point agents modeled by single integrators, the controllers proposed in this paper drive the whole formation to converge to a desired shape with finite settling time. For agents modeled by double integrators, the proposed controllers allow all agents to both achieve the same velocity and reach a desired shape in finite time. All controllers are totally distributed. Simulations are also provided to validate the proposed control.",
keywords = "Finite time stability, Flocking, Formation control, Graph rigidity",
author = "Z. Sun and S. Mou and M. Deghat and Anderson, {B. D.O.} and Morse, {A. S.}",
note = "Publisher Copyright: {\textcopyright} IFAC.; 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",
year = "2014",
doi = "10.3182/20140824-6-za-1003.00662",
language = "English",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "9183--9189",
editor = "Edward Boje and Xiaohua Xia",
booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",
}