@inproceedings{95089576fee3466e91342b94d1d93626,
title = "Rigid formation control with prescribed orientation",
abstract = "Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed orientations in both 2-D and 3-D spaces. We propose two control approaches, one with centroid invariance and the other without preserving invariant formation centroid. The proposed controllers involve the commonly-used gradient descent control for shape stabilization, and an additional term to control the directions of certain relative position vectors associated with some chosen agents. The asymptotic convergence of the desired equilibrium is proven using the convergence property of gradient systems. Typical simulation examples are shown to support the analysis and performance of the proposed formation controllers.",
keywords = "Australia, Convergence, Jacobian matrices, Position control, Shape, Shape control, Sun",
author = "Zhiyong Sun and Anderson, {Brian D.O.}",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE International Symposium on Intelligent Control, ISIC 2015 ; Conference date: 21-09-2015 Through 23-09-2015",
year = "2015",
month = oct,
day = "26",
doi = "10.1109/ISIC.2015.7307282",
language = "English",
series = "IEEE International Symposium on Intelligent Control - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "639--645",
booktitle = "2015 IEEE International Symposium on Intelligent Control, ISIC 2015 - Proceedings",
address = "United States",
}