Rigid formation control systems modelled by double integrators: System dynamics and convergence analysis

Zhiyong Sun; Brian D.O. Anderson

Rigid formation control systems modelled by double integrators: System dynamics and convergence analysis

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

8 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, the formation stabilization system and the flocking control system. Certain novel observations on 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 links between single-integrator formation systems and double-integrator formation systems via a parameterized Hamiltonian system, which further provide stability criteria for different equilibria in double-integrator formation systems by using available results in single-integrator formation systems.

Original language	English
Title of host publication	2015 Australian Control Conference, AUCC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	241-246
Number of pages	6
ISBN (Electronic)	9781922107695
Publication status	Published - 21 Dec 2015
Event	5th Australian Control Conference, AUCC 2015 - Gold Coast, Australia Duration: 5 Nov 2015 → 6 Nov 2015

Publication series

Name	2015 Australian Control Conference, AUCC 2015

Conference

Conference	5th Australian Control Conference, AUCC 2015
Country/Territory	Australia
City	Gold Coast
Period	5/11/15 → 6/11/15

Cite this

@inproceedings{bc57ed8701064c089346295578f261f0,

title = "Rigid formation control systems modelled by double integrators: System dynamics and convergence analysis",

abstract = "In this paper we study rigid formation control systems modelled by double integrators. Two kinds of double-integrator formation systems are considered, namely, the formation stabilization system and the flocking control system. Certain novel observations on 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 links between single-integrator formation systems and double-integrator formation systems via a parameterized Hamiltonian system, which further provide stability criteria for different equilibria in double-integrator formation systems by using available results in single-integrator formation systems.",

author = "Zhiyong Sun and Anderson, {Brian D.O.}",

note = "Publisher Copyright: {\textcopyright} 2015 Engineers Australia.; 5th Australian Control Conference, AUCC 2015 ; Conference date: 05-11-2015 Through 06-11-2015",

year = "2015",

month = dec,

day = "21",

language = "English",

series = "2015 Australian Control Conference, AUCC 2015",

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

pages = "241--246",

booktitle = "2015 Australian Control Conference, AUCC 2015",

address = "United States",

}

Sun, Z & Anderson, BDO 2015, Rigid formation control systems modelled by double integrators: System dynamics and convergence analysis. in 2015 Australian Control Conference, AUCC 2015., 7361941, 2015 Australian Control Conference, AUCC 2015, Institute of Electrical and Electronics Engineers Inc., pp. 241-246, 5th Australian Control Conference, AUCC 2015, Gold Coast, Australia, 5/11/15.

Rigid formation control systems modelled by double integrators: System dynamics and convergence analysis. / Sun, Zhiyong; Anderson, Brian D.O.
2015 Australian Control Conference, AUCC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 241-246 7361941 (2015 Australian Control Conference, AUCC 2015).

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

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T1 - Rigid formation control systems modelled by double integrators

T2 - 5th Australian Control Conference, AUCC 2015

AU - Sun, Zhiyong

AU - Anderson, Brian D.O.

PY - 2015/12/21

Y1 - 2015/12/21

N2 - In this paper we study rigid formation control systems modelled by double integrators. Two kinds of double-integrator formation systems are considered, namely, the formation stabilization system and the flocking control system. Certain novel observations on 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 links between single-integrator formation systems and double-integrator formation systems via a parameterized Hamiltonian system, which further provide 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, the formation stabilization system and the flocking control system. Certain novel observations on 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 links between single-integrator formation systems and double-integrator formation systems via a parameterized Hamiltonian system, which further provide stability criteria for different equilibria in double-integrator formation systems by using available results in single-integrator formation systems.

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M3 - Conference contribution

T3 - 2015 Australian Control Conference, AUCC 2015

SP - 241

EP - 246

BT - 2015 Australian Control Conference, AUCC 2015

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 5 November 2015 through 6 November 2015

ER -

Rigid formation control systems modelled by double integrators: System dynamics and convergence analysis

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