文章基本信息

标题：On the Role and Compensation of Distance Mismatches in Rigid Formation Control for Second-Order Agents
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作者：Hector Garcia de Marina ; Hector Garcia de Marina ; Bayu Jayawardhana 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：398-403
DOI：10.1016/j.ifacol.2016.10.198
语种：English
出版社：Elsevier
摘要：Abstract: This paper presents a robustness analysis of gradient-based formation control law for second-order agents subjected to distance mismatches or constant disturbances. It is shown that, akin to the first-order case, the existence of these mismatches introduces two undesired group behaviors: a distorted final shape and a stationary group motion. We show that such undesired properties can be compensated by combining the gradient-based rigid formation control law and our proposed distributed estimators.
关键词：KeywordsFormation ControlRigid FormationMotion ControlSecond-Order dynamics