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Exponential stability for formation control systems with generalized controllers: A unified approach.
- Source :
-
Systems & Control Letters . Jul2016, Vol. 93, p50-57. 8p. - Publication Year :
- 2016
-
Abstract
- This paper discusses generalized controllers for distance-based rigid formation shape stabilization and aims to provide a unified approach for the convergence analysis. We consider two types of formation control systems according to different characterizations of target formations: minimally rigid target formation and non-minimally rigid target formation. For the former case, we firstly prove the local exponential stability for rigid formation systems when using a general form of shape controllers with certain properties. From this viewpoint, different formation controllers proposed in previous literature can be included in a unified framework. We then extend the result to the case that the target formation is non-minimally rigid, and show that exponential stability of the formation system is still guaranteed with generalized controllers. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 01676911
- Volume :
- 93
- Database :
- Academic Search Index
- Journal :
- Systems & Control Letters
- Publication Type :
- Academic Journal
- Accession number :
- 115741884
- Full Text :
- https://doi.org/10.1016/j.sysconle.2016.02.022