Formation control of mobile agents based on inter-agent distance dynamics

We propose a novel formation control strategy based on inter-agent distances for single-integrator modeled agents in the plane. Attempting to directly control the inter-agent distances, we derive a control law from the distance dynamics. The proposed control law achieves the local asymptotic stabili...

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Bibliographic Details
Published in:Automatica (Oxford) 2011-10, Vol.47 (10), p.2306-2312
Main Authors: Oh, Kwang-Kyo, Ahn, Hyo-Sung
Format: Article
Language:English
Subjects:
Agents (artificial intelligence)
Applied sciences
Asymptotic properties
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Distance dynamics
Dynamics
Euclidean distance matrix
Exact sciences and technology
Formation control
Graph rigidity
Law
Multi-agent systems
Multiplication
Planes
Robotics
Stability
Strategy
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Summary:We propose a novel formation control strategy based on inter-agent distances for single-integrator modeled agents in the plane. Attempting to directly control the inter-agent distances, we derive a control law from the distance dynamics. The proposed control law achieves the local asymptotic stability of infinitesimally rigid formations. Triangular infinitesimally rigid formations are globally asymptotically stable under the proposed control law, with all squared distance errors exponentially and monotonically converging to zero. As an extension of existing results, the stability analysis in this paper reveals that any control laws related with the gradient law by multiplication of a positive matrix ensure the local asymptotic stability of infinitesimally rigid formations.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2011.08.019