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Almost global convergence for distance- and area-constrained hierarchical formations without reflection

Cao, Yue ; Sun, Zhiyong LU ; Anderson, Brian D. O. and Sugie, Toshiharu (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)
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author
; ; and
organization
publishing date
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
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
2021-01-12 03:25:41
@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    = {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},
}