TY - GEN
T1 - Generalized controller for directed triangle formations
AU - Cao, Ming
AU - Yu, Changbin
AU - Morse, A. Stephen
AU - Anderson, Brian D.O.
AU - Dasgupta, Soura
PY - 2008
Y1 - 2008
N2 - This paper proposes and analyzes a distributed control law which generalizes three different previously considered control laws for maintaining a triangular formation in the plane consisting of three point-modeled, mobile autonomous agents. It is shown that the control law under consideration can cause any initially non-collinear, positively-oriented (resp. negatively-oriented) triangular formation to converge exponentially fast to a desired positively-oriented (resp. negatively-oriented) triangular formation. These findings clarify and extend earlier results.
AB - This paper proposes and analyzes a distributed control law which generalizes three different previously considered control laws for maintaining a triangular formation in the plane consisting of three point-modeled, mobile autonomous agents. It is shown that the control law under consideration can cause any initially non-collinear, positively-oriented (resp. negatively-oriented) triangular formation to converge exponentially fast to a desired positively-oriented (resp. negatively-oriented) triangular formation. These findings clarify and extend earlier results.
KW - Cooperative systems
KW - Distributed control and estimation
KW - Multi-agent systems
UR - http://www.scopus.com/inward/record.url?scp=79961018357&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.1058
DO - 10.3182/20080706-5-KR-1001.1058
M3 - Conference contribution
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -