Title :
Globally asymptotically stable formation control of three agents
Author :
Qin Wang ; Yu-Ping Tian ; Yao-Jin Xu
Author_Institution :
Sch. of Autom., Southeast Univ., Nanjing, China
fDate :
June 29 2011-July 1 2011
Abstract :
This paper considers the formation-shape control of three agents moving in the plane. By adding an adaptive vector perturbation to any agent´s movement direction, a novel control strategy is proposed. It is shown that the proposed novel bidirectional control law can not only guarantee the global asymptotical stability of the desired formation shape, but also ensure the collision avoidance of agents between each other. Simulation results are provided to illustrate the effectiveness of the control algorithm.
Keywords :
adaptive control; asymptotic stability; collision avoidance; multi-agent systems; multi-robot systems; perturbation techniques; shape control; adaptive vector perturbation; agents movement direction; bidirectional control law; collision avoidance; formation shape control; global asymptotic stability; Equations; Manifolds; Mathematical model; Nickel; Shape; Stability analysis; Trajectory; formation control; global asymptotic stability; multi-agents system;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991106
