NDLI: Controlling formations with double integrator and passive actuation

Content Provider	IEEE Xplore Digital Library
Author	Dasgupta, S. Anderson, B.D.O.
Copyright Year	2015
Description	Author affiliation: Dept. of of Electricaland Comput. Eng., Univ. of Iowa, Iowa City, IA, USA (Dasgupta, S.) \|\| Res. Sch. of Eng., Australian Nat. Univ., Canberra, ACT, Australia (Anderson, B.D.O.)
Abstract	This paper considers the problem where a group of agents must achieve a rigid formation specified by a subset of interagent distances. They must do so by being only able to sense the positions of their neighbors, agents with whom they share a specified desired distance, and knowing only their own velocities. The paper builds upon the work of [12] and [16]. The former assumes that the agents are modeled as single integrators. The latter assumes double integrator dynamics and assumes that agents can also sense the velocities of their neighbors, increasing the communication/sensing burden. In contrast this paper assumes that the agent velocities are generated by the actuation signals through a Positive Real dynamics. Double integrator dynamics happen to be a special case of this. Further, unlike [16] no agent needs its neighbor's velocities. We enunciate a control law consistent with our specification, argue that no law for this problem can be globally stable, and as is done in [12] and [16] for the laws therein, prove its local stability.
Starting Page	894
Ending Page	899
File Size	282177
Page Count	6
File Format	PDF
e-ISBN	9781479977888
DOI	10.1109/ISIC.2015.7307295
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-21
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability analysis Conferences Australia Information exchange Manifolds Convergence Control systems
Content Type	Text
Resource Type	Article

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