Robust control of undirected rigid formations with constant measurement bias in relative positions

Fengjiao Liu; A. Stephen Morse; Brian D.O. Anderson

doi:10.1109/ACC.2016.7524906

Robust control of undirected rigid formations with constant measurement bias in relative positions

Fengjiao Liu, A. Stephen Morse, Brian D.O. Anderson

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

5 Citations (Scopus)

Abstract

This paper investigates the robust control of a class of minimally infinitesimally rigid formations in the face of constant bias in the measurements of relative positions between neighboring agents. It is shown that by appropriately modifying standard gradient controls, desired formation shape can be achieved up to small errors in relative positions.

Original language	English
Title of host publication	2016 American Control Conference, ACC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	143-147
Number of pages	5
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7524906
Publication status	Published - 28 Jul 2016
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: 6 Jul 2016 → 8 Jul 2016

Publication series

Name	Proceedings of the American Control Conference
Volume	2016-July
ISSN (Print)	0743-1619

Conference

Conference	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	6/07/16 → 8/07/16

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10.1109/ACC.2016.7524906

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Liu, F., Morse, A. S., & Anderson, B. D. O. (2016). Robust control of undirected rigid formations with constant measurement bias in relative positions. In 2016 American Control Conference, ACC 2016 (pp. 143-147). Article 7524906 (Proceedings of the American Control Conference; Vol. 2016-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7524906

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title = "Robust control of undirected rigid formations with constant measurement bias in relative positions",

abstract = "This paper investigates the robust control of a class of minimally infinitesimally rigid formations in the face of constant bias in the measurements of relative positions between neighboring agents. It is shown that by appropriately modifying standard gradient controls, desired formation shape can be achieved up to small errors in relative positions.",

author = "Fengjiao Liu and Morse, {A. Stephen} and Anderson, {Brian D.O.}",

note = "Publisher Copyright: {\textcopyright} 2016 American Automatic Control Council (AACC).; 2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

year = "2016",

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doi = "10.1109/ACC.2016.7524906",

language = "English",

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Liu, F, Morse, AS & Anderson, BDO 2016, Robust control of undirected rigid formations with constant measurement bias in relative positions. in 2016 American Control Conference, ACC 2016., 7524906, Proceedings of the American Control Conference, vol. 2016-July, Institute of Electrical and Electronics Engineers Inc., pp. 143-147, 2016 American Control Conference, ACC 2016, Boston, United States, 6/07/16. https://doi.org/10.1109/ACC.2016.7524906

Robust control of undirected rigid formations with constant measurement bias in relative positions. / Liu, Fengjiao; Morse, A. Stephen; Anderson, Brian D.O.
2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 143-147 7524906 (Proceedings of the American Control Conference; Vol. 2016-July).

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

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AU - Anderson, Brian D.O.

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M3 - Conference contribution

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 American Control Conference, ACC 2016

Y2 - 6 July 2016 through 8 July 2016

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Robust control of undirected rigid formations with constant measurement bias in relative positions

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