Finite-Time Convergence Control for Acyclic Persistent Formations

被引：0

作者：

Park, Myoung-Chul ^{[1
]}

Sun, Zhiyong ^{[2
,3
,4
]}

Oh, Kwang-Kyo ^{[1
]}

Anderson, Brian D. O. ^{[3
,4
]}

Ahn, Hyo-Sung ^{[1
]}

机构：

[1] GIST, Sch Mechatron, 123 Cheomdan Gwagiro, Gwangju, South Korea

[2] SCSC, Jinan, Peoples R China

[3] Australian Natl Univ, Natl ICT Australia, Canberra, ACT 0200, Australia

[4] Australian Natl Univ, Res Sch Engn, Canberra, ACT 0200, Australia

来源：

2014 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL (ISIC) | 2014年

关键词：

AUTONOMOUS FORMATIONS; RIGIDITY;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a distance-based control law for acyclic persistent formations of mobile agents. The proposed normalized gradient law, which can be implemented distributively by using local measurements, allows agents to achieve their desired formation shape specified by inter-agent distance constraints in finite time, with local but not global convergence. We show some local finite-time convergence properties including an upper bound for the convergence time. Further the existence of attractive incorrect equilibrium formations is demonstrated. Simulation results are provided for illustration.

引用

页码：1608 / 1613

页数：6

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