Finite time distributed distance‐constrained shape stabilization and flocking control for d‐dimensional undirected rigid formations |
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| Authors: | Zhiyong Sun Shaoshuai Mou Mohammad Deghat Brian D O Anderson |
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| Affiliation: | 1. Shandong Provincial Key Laboratory of Computer Networks, Shandong Computer Science Center (National Supercomputer Center in Jinan), Jinan, Shandong, China;2. National ICT Australia and Research School of Engineering, Australian National University, Canberra, Australia;3. School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN, USA;4. School of Engineering and Information Technology, University of New South Wales Canberra, Canberra, Australia |
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| Abstract: | Most of the existing results on distributed distance‐constrained rigid formation control establish asymptotic or exponential convergence. To further improve the convergence rate, we explain in this paper how to modify existing gradient controllers to obtain finite time stability. For point agents modeled by single integrators, the controllers proposed in this paper drive the whole formation to locally converge to a desired shape with finite settling time. We also show for undirected triangular formation shape control, if all the agents start with non‐collinear positions, then the formation will converge to the desired shape in finite time. For agents modeled by double integrators, the proposed controllers allow all agents to both achieve the same velocity and reach a desired shape in finite time. All controllers are totally distributed. Simulations are also provided to validate the proposed control strategies. Copyright © 2015 John Wiley & Sons, Ltd. |
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| Keywords: | shape stabilization finite time stability graph rigidity flocking control |
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