Stabilisation of infinitesimally rigid formations of multi-robot networks

Autor:	Bruce A. Francis, Laura Krick, Mireille E. Broucke
Rok vydání:	2009
Předmět:	Equilibrium manifold Exponential stability Control and Systems Engineering Control theory Infinitesimal Regular polygon Graph (abstract data type) Robot Rigidity (psychology) Directed graph Topology Computer Science Applications Mathematics
Zdroj:	International Journal of Control. 82:423-439
ISSN:	1366-5820 0020-7179
DOI:	10.1080/00207170802108441
Popis:	This article considers the design of a formation control for multivehicle systems that uses only local information. The control is derived from a potential function based on an undirected infinitesimally rigid graph that specifies the target formation. A potential function is obtained from the graph, from which a gradient control is derived. Under this controller the target formation becomes a manifold of equilibria for the multivehicle system. It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold. A complete study of the stability of the regular polygon formation is presented and results for directed graphs are presented as well. Finally, the controller is validated experimentally.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::6794e9698f55bed560454a3e08c2acd3 https://doi.org/10.1080/00207170802108441 Zobrazit plný text záznamu