| contributor author | Zhang, Pengpeng | |
| contributor author | de Queiroz, Marcio | |
| contributor author | Khaledyan, Milad | |
| contributor author | Liu, Tairan | |
| date accessioned | 2019-03-17T11:01:33Z | |
| date available | 2019-03-17T11:01:33Z | |
| date copyright | 12/6/2018 12:00:00 AM | |
| date issued | 2019 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_141_04_041003.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4256540 | |
| description abstract | This paper deals with the problem of rigid formation control using directed graphs in both two-dimensional (2D) and three-dimensional (3D) spaces. Directed graphs reduce the number of communication, sensing, and/or control channels of the multi-agent system. We show that the directed version of the gradient descent control law asymptotically stabilizes the interagent distance error dynamics of minimally persistent formation graphs. The control analysis begins with a (possibly cyclic) primitive formation that is grown consecutively by Henneberg-type insertions, resulting at each step in two interconnected nonlinear systems, which are recursively analyzed using the stability of interconnected systems. Simulation and experimental results are presented for the directed formation controller in comparison to the standard undirected controller. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Control of Directed Formations Using Interconnected Systems Stability | |
| type | Journal Paper | |
| journal volume | 141 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4041703 | |
| journal fristpage | 41003 | |
| journal lastpage | 041003-11 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2019:;volume( 141 ):;issue: 004 | |
| contenttype | Fulltext | |
