DocumentCode
3293661
Title
The undesired equilibria of formation control with ring graphs
Author
He Bai
Author_Institution
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
fYear
2010
fDate
June 30 2010-July 2 2010
Firstpage
1653
Lastpage
1658
Abstract
We consider the formation control problem with the ring graph. Because the graph is cyclic, undesired equilibria arise. We investigate the structures of the undesired equilibria and develop conditions that describe the undesired formations. When the desired formation is an equilateral polygon, we prove by linearization that the undesired equilibria are unstable. We also discuss the interpretation for the unstable eigenvector.
Keywords
eigenvalues and eigenfunctions; graph theory; linearisation techniques; position control; stability; equilateral polygon; formation control; formation control problem; linearization; ring graphs; undesired equilibria; unstable eigenvector; Communication system control; Drag; Drives; Force control; Helium; Null space; Optimal control; Position control; Stability; Topology;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2010
Conference_Location
Baltimore, MD
ISSN
0743-1619
Print_ISBN
978-1-4244-7426-4
Type
conf
DOI
10.1109/ACC.2010.5531531
Filename
5531531
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