Distance-Based Formation Control With Bounded Disturbances
Dung Van Vu, Minh Hoang Trinh, Phuoc Doan Nguyen, Hyo‐Sung Ahn
Abstract
In this letter, we study distance-based formation control of single- and double-integrator modeled agents with unknown bounded disturbances. We propose distributed control laws to simultaneously achieve the desired formation shape and eliminate the effects of disturbances. The stability of the systems under the proposed control laws is analyzed based on Lyapunov stability theory of nonsmooth systems and Barbalat's lemma. Further, sufficient conditions are given to ensure the system to approach the set of desired formation. Finally, simulation results are provided to support the analysis.
Topics & Concepts
Bounded functionControl theory (sociology)Lemma (botany)IntegratorDouble integratorLyapunov stabilityStability (learning theory)Lyapunov functionSet (abstract data type)Control (management)MathematicsComputer scienceNonlinear systemMathematical analysisArtificial intelligencePhysicsPoaceaeProgramming languageEcologyMachine learningComputer networkBiologyBandwidth (computing)Quantum mechanicsDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationAdaptive Control of Nonlinear Systems