Title :
Distributed circular formation stabilization of unicycles part II: Arbitrary information flow graph
Author :
El-Hawwary, Mohamed I. ; Maggiore, Manfredi
Author_Institution :
Edward S. Rogers Sr. Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
Abstract :
In part I of this paper we presented a solution to the circular formation stabilization problem of kinematic unicycles when the information flow graph is undirected. This paper extends the results of part I in two directions. First, we present a control law that solves the circular formation stabilization problem when the information flow is described by an arbitrary directed graph with a globally reachable node. Second, we generalize our results to the case when the unicycles are dynamic.
Keywords :
control system synthesis; directed graphs; stability; arbitrary directed graph; control law design; distributed circular formation stabilization; globally reachable node; information flow graph; kinematic unicycles; Asymptotic stability; Closed loop systems; Distributed control; Distributed feedback devices; Eigenvalues and eigenfunctions; Kinematics; Laplace equations;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160353
