Generalized controllers for rigid formation stabilization with application to event-based controller design

Z. Sun; Q. Liu; C. Yu; B. D.O. Anderson

doi:10.1109/ECC.2015.7330548

Generalized controllers for rigid formation stabilization with application to event-based controller design

Z. Sun, Q. Liu, C. Yu, B. D.O. Anderson

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

17 Citations (Scopus)

Abstract

This paper discusses generalized controllers for rigid formation shape stabilization. We provide unified analysis to show convergence using different controllers reported in the literature, and further prove an exponential stability of the formation system when using the general form of shape controllers. We also show that different agents can use different controllers for controlling different distances to achieve a desired rigid formation, which enables the implementation of heterogeneous agents in practice for formation shape control. We further propose an event-triggered rigid formation control scheme based on the generalized controllers. The triggering condition, event function and convergence analysis are discussed.

Original language	English
Title of host publication	2015 European Control Conference, ECC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	217-222
Number of pages	6
ISBN (Electronic)	9783952426937
DOIs	https://doi.org/10.1109/ECC.2015.7330548
Publication status	Published - 16 Nov 2015
Event	European Control Conference, ECC 2015 - Linz, Austria Duration: 15 Jul 2015 → 17 Jul 2015

Publication series

Name	2015 European Control Conference, ECC 2015

Conference

Conference	European Control Conference, ECC 2015
Country/Territory	Austria
City	Linz
Period	15/07/15 → 17/07/15

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10.1109/ECC.2015.7330548

Cite this

Sun, Z., Liu, Q., Yu, C., & Anderson, B. D. O. (2015). Generalized controllers for rigid formation stabilization with application to event-based controller design. In 2015 European Control Conference, ECC 2015 (pp. 217-222). Article 7330548 (2015 European Control Conference, ECC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2015.7330548

@inproceedings{19bcf0dffcf645d9ba745353fef465a1,

title = "Generalized controllers for rigid formation stabilization with application to event-based controller design",

abstract = "This paper discusses generalized controllers for rigid formation shape stabilization. We provide unified analysis to show convergence using different controllers reported in the literature, and further prove an exponential stability of the formation system when using the general form of shape controllers. We also show that different agents can use different controllers for controlling different distances to achieve a desired rigid formation, which enables the implementation of heterogeneous agents in practice for formation shape control. We further propose an event-triggered rigid formation control scheme based on the generalized controllers. The triggering condition, event function and convergence analysis are discussed.",

author = "Z. Sun and Q. Liu and C. Yu and Anderson, {B. D.O.}",

note = "Publisher Copyright: {\textcopyright} 2015 EUCA.; European Control Conference, ECC 2015 ; Conference date: 15-07-2015 Through 17-07-2015",

year = "2015",

month = nov,

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doi = "10.1109/ECC.2015.7330548",

language = "English",

series = "2015 European Control Conference, ECC 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Sun, Z, Liu, Q, Yu, C & Anderson, BDO 2015, Generalized controllers for rigid formation stabilization with application to event-based controller design. in 2015 European Control Conference, ECC 2015., 7330548, 2015 European Control Conference, ECC 2015, Institute of Electrical and Electronics Engineers Inc., pp. 217-222, European Control Conference, ECC 2015, Linz, Austria, 15/07/15. https://doi.org/10.1109/ECC.2015.7330548

Generalized controllers for rigid formation stabilization with application to event-based controller design. / Sun, Z.; Liu, Q.; Yu, C. et al.
2015 European Control Conference, ECC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 217-222 7330548 (2015 European Control Conference, ECC 2015).

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

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AB - This paper discusses generalized controllers for rigid formation shape stabilization. We provide unified analysis to show convergence using different controllers reported in the literature, and further prove an exponential stability of the formation system when using the general form of shape controllers. We also show that different agents can use different controllers for controlling different distances to achieve a desired rigid formation, which enables the implementation of heterogeneous agents in practice for formation shape control. We further propose an event-triggered rigid formation control scheme based on the generalized controllers. The triggering condition, event function and convergence analysis are discussed.

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M3 - Conference contribution

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BT - 2015 European Control Conference, ECC 2015

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Y2 - 15 July 2015 through 17 July 2015

ER -

Generalized controllers for rigid formation stabilization with application to event-based controller design

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