Formation shape control: Global asymptotic stability of a four-agent formation

Tyler H. Summers, Changbin Yu, Brian D.O. Anderson, Soura Dasgupta

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    29 Citations (Scopus)

    Abstract

    This paper considers formation shape control of a team of four agents in the plane, motivated by an example from [1]. We utilize bidirectional, gradient-based interagent distance control laws which are designed so that the agents cooperatively achieve a specified desired formation shape. When every interagent distance is actively controlled (i.e. the information architecture is a complete graph), there may exist equilibrium formation shapes with incorrect interagent distances. We prove that any incorrect equilibrium formation shape is locally unstable for formations with internal angles that satisfy an acuteness condition and thereby establish that the desired formation shape, for all practical purposes, is globally asymptotically stable.

    Original languageEnglish
    Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference,
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages3002-3007
    ISBN (Electronic)978-1-4244-3872-3
    ISBN (Print)978-1-4244-3871-6
    DOIs
    Publication statusPublished - 2009
    Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
    Duration: 15 Dec 200918 Dec 2009

    Publication series

    NameProceedings of the IEEE Conference on Decision and Control
    ISSN (Print)0191-2216

    Conference

    Conference48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
    Country/TerritoryChina
    CityShanghai
    Period15/12/0918/12/09

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