TY - JOUR
T1 - Rigid formation control of double-integrator systems
AU - Sun, Zhiyong
AU - Anderson, Brian D.O.
AU - Deghat, Mohammad
AU - Ahn, Hyo Sung
N1 - Publisher Copyright:
© 2016 Informa UK Limited, trading as Taylor & Francis Group.
PY - 2017/7/3
Y1 - 2017/7/3
N2 - In this paper, we study rigid formation control systems modelled by double integrators. Two kinds of double-integrator formation systems are considered, namely formation stabilisation systems and flocking control systems. Novel observations on the measurement requirement, the null space and eigenvalues of the system Jacobian matrix will be provided, which reveal important properties of system dynamics and the associated convergence results. We also establish some new links between single-integrator formation systems and double-integrator formation systems via a parameterised Hamiltonian system, which, in addition, provide novel stability criteria for different equilibria in double-integrator formation systems by using available results in single-integrator formation systems.
AB - In this paper, we study rigid formation control systems modelled by double integrators. Two kinds of double-integrator formation systems are considered, namely formation stabilisation systems and flocking control systems. Novel observations on the measurement requirement, the null space and eigenvalues of the system Jacobian matrix will be provided, which reveal important properties of system dynamics and the associated convergence results. We also establish some new links between single-integrator formation systems and double-integrator formation systems via a parameterised Hamiltonian system, which, in addition, provide novel stability criteria for different equilibria in double-integrator formation systems by using available results in single-integrator formation systems.
KW - Rigid formation
KW - double-integrator model
KW - equilibrium analysis
KW - parameterised Hamiltonian system
UR - http://www.scopus.com/inward/record.url?scp=84980009670&partnerID=8YFLogxK
U2 - 10.1080/00207179.2016.1207100
DO - 10.1080/00207179.2016.1207100
M3 - Article
SN - 0020-7179
VL - 90
SP - 1403
EP - 1419
JO - International Journal of Control
JF - International Journal of Control
IS - 7
ER -