Author/Authors :
Shojaeyan، Alireza نويسنده Mechanical Engineering Department, KN Toosi University of Technology, Tehran, Iran , , Ghaffari، Ali نويسنده Mechanical Engineering Department, KN Toosi University of Technology, Tehran, Iran , , Shojaeyan، Hossein نويسنده Department Electrical Engineering, Qom University of Technology, Qom, Iran ,
Abstract :
This paper presents a formation control law for a group of three double-integrator modeled agents. We suggest a
control law based on the gradient control law of a potential function between each agent. A constant parameter is
designed to make a non-oscillating trajectory for each agent around equilibrium point. LaSalleʹs invariant principle is
applied to prove that triangular formations are globally asymptotically stable under the proposed control law. Finally,
simulation results are given to demonstrate the effectiveness of the proposed algorithm.
