Stability Analysis of Gradient-Based Distributed Formation Control With Heterogeneous Sensing Mechanism: The Three Robot Case
Nelson P. K. Chan, Bayu Jayawardhana, Héctor García de Marina
Abstract
This article focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses a heterogeneous sensing mechanism. For the setups consisting of three robots, we show that the use of heterogeneous gradient-based control laws can give rise to undesired invariant sets where a distorted formation shape is possibly moving at a constant velocity. We guarantee local asymptotic stability for the correct and desired formation shape. For the setup with one distance and two bearing robots, we identify the conditions such that an incorrect moving formation is locally attractive.
Topics & Concepts
RobotMobile robotExponential stabilityControl theory (sociology)Stability (learning theory)Mechanism (biology)Computer scienceInvariant (physics)Control (management)Artificial intelligenceMathematicsPhysicsMachine learningNonlinear systemQuantum mechanicsMathematical physicsDistributed Control Multi-Agent SystemsAdaptive Control of Nonlinear SystemsGuidance and Control Systems