Rigid formation control of double-integrator systems

Zhiyong Sun; Brian D.O. Anderson; Mohammad Deghat; Hyo Sung Ahn

doi:10.1080/00207179.2016.1207100

Rigid formation control of double-integrator systems

Zhiyong Sun^*
, Brian D.O. Anderson
, Mohammad Deghat
, Hyo Sung Ahn

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

65 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	1403-1419
Number of pages	17
Journal	International Journal of Control
Volume	90
Issue number	7
DOIs	https://doi.org/10.1080/00207179.2016.1207100
Publication status	Published - 3 Jul 2017

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10.1080/00207179.2016.1207100

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title = "Rigid formation control of double-integrator systems",

abstract = "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.",

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author = "Zhiyong Sun and Anderson, \{Brian D.O.\} and Mohammad Deghat and Ahn, \{Hyo Sung\}",

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AU - Sun, Zhiyong

AU - Anderson, Brian D.O.

AU - Deghat, Mohammad

AU - Ahn, Hyo Sung

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 - https://www.scopus.com/pages/publications/84980009670

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DO - 10.1080/00207179.2016.1207100

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VL - 90

SP - 1403

EP - 1419

JO - International Journal of Control

JF - International Journal of Control

IS - 7

ER -

Rigid formation control of double-integrator systems

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