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标题：Robustness issues in double-integrator undirected rigid formation systems
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作者：Zhiyong Sun ; Brian D.O. Anderson ; Shaoshuai Mou 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：1334-1339
DOI：10.1016/j.ifacol.2017.08.221
语种：English
出版社：Elsevier
摘要：AbstractIn this paper we consider rigid formation control systems modelled by double integrators (including formation stabilization systems and flocking control systems), with a focus on their robustness property in the presence of distance mismatch. By introducing additional state variables we show the augmented double-integrator distance error system is self-contained, and we prove the exponential stability of the distance error systems via linearization analysis. As a consequence of the exponential stability, the distance error still converges in the presence of small and constant distance mismatches, while additional motions of the resulted formation will occur. We further analyze the rigid motions induced by constant mismatches for both double-integrator formation stabilisation systems and flocking control systems.
关键词：KeywordsFormation controlexponential stabilitydouble-integrator systemsdistance mismatchrigid body motion