Almost global convergence for distance- and area-constrained hierarchical formations without reflection
(2019) The 15th IEEE International Conference on Control and Automation p.1534-1539- Abstract
- This paper discusses formation shape control systems with both distance and signed area constraints, which aim to avoid the flipping or reflection ambiguity in a target formation shape. We prove an almost global convergence result for a triangle formation with general shape, by choosing a particular value of the control gain associated with the formation area term. This result extends the recent paper [1] on formation shape stabilization from equilateral triangles to general triangles, with an almost global convergence from almost all initial conditions. We then consider a hierarchical formation system comprised of multiple triangular shapes, and prove almost global convergence of a shape control algorithm with appropriate gains. Several... (More)
- This paper discusses formation shape control systems with both distance and signed area constraints, which aim to avoid the flipping or reflection ambiguity in a target formation shape. We prove an almost global convergence result for a triangle formation with general shape, by choosing a particular value of the control gain associated with the formation area term. This result extends the recent paper [1] on formation shape stabilization from equilateral triangles to general triangles, with an almost global convergence from almost all initial conditions. We then consider a hierarchical formation system comprised of multiple triangular shapes, and prove almost global convergence of a shape control algorithm with appropriate gains. Several simulations are provided to validate the theoretical results. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/b0752218-054d-4e51-a508-7de241baae99
- author
- Cao, Yue ; Sun, Zhiyong LU ; Anderson, Brian D. O. and Sugie, Toshiharu
- organization
- publishing date
- 2019
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2019 IEEE 15th International Conference on Control and Automation (ICCA)
- article number
- 8899927
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- The 15th IEEE International Conference on Control and Automation
- conference location
- Edinburgh, United Kingdom
- conference dates
- 2019-07-16 - 2019-07-19
- external identifiers
-
- scopus:85075778801
- ISBN
- 978-1-7281-1164-3
- 978-1-7281-1165-0
- DOI
- 10.1109/ICCA.2019.8899927
- project
- Semantic Mapping and Visual Navigation for Smart Robots
- language
- English
- LU publication?
- yes
- id
- b0752218-054d-4e51-a508-7de241baae99
- date added to LUP
- 2019-06-19 11:04:03
- date last changed
- 2024-08-21 22:06:03
@inproceedings{b0752218-054d-4e51-a508-7de241baae99, abstract = {{This paper discusses formation shape control systems with both distance and signed area constraints, which aim to avoid the flipping or reflection ambiguity in a target formation shape. We prove an almost global convergence result for a triangle formation with general shape, by choosing a particular value of the control gain associated with the formation area term. This result extends the recent paper [1] on formation shape stabilization from equilateral triangles to general triangles, with an almost global convergence from almost all initial conditions. We then consider a hierarchical formation system comprised of multiple triangular shapes, and prove almost global convergence of a shape control algorithm with appropriate gains. Several simulations are provided to validate the theoretical results.}}, author = {{Cao, Yue and Sun, Zhiyong and Anderson, Brian D. O. and Sugie, Toshiharu}}, booktitle = {{2019 IEEE 15th International Conference on Control and Automation (ICCA)}}, isbn = {{978-1-7281-1164-3}}, language = {{eng}}, pages = {{1534--1539}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Almost global convergence for distance- and area-constrained hierarchical formations without reflection}}, url = {{http://dx.doi.org/10.1109/ICCA.2019.8899927}}, doi = {{10.1109/ICCA.2019.8899927}}, year = {{2019}}, }