期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 63, 期 2, 页码 449-462出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2017.2715226
关键词
Formation control; motion control; rigid formation; second-order dynamics
资金
- EU INTER-REG Program under SMARTBOT Project
- European Research Council [ERC-StG-307207]
This paper presents the analysis on the influence of distance mismatches on the standard gradient-based rigid formation control for second-order agents. It is shown that, similar to the first-order case as recently discussed in the literature, these mismatches introduce two undesired group behaviors: A distorted final shape and a steady-state motion of the group formation. We show that such undesired behaviors can be eliminated by combining the standard formation control law with distributed estimators. Finally, we show how the mismatches can be effectively employed as design parameters in order to control a combined translational and rotational motion of the formation.
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