Title :
The undesired equilibria of formation control with ring graphs
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
fDate :
June 30 2010-July 2 2010
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;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531531
