Distributed formation stabilization for mobile agents using virtual tensegrity structures

@article{Qingkai2015DistributedFS,
  title={Distributed formation stabilization for mobile agents using virtual tensegrity structures},
  author={Yang Qingkai and Cao Ming and Fang Hao and Chen Jie and Huang Jie},
  journal={2015 34th Chinese Control Conference (CCC)},
  year={2015},
  pages={447-452}
}
This paper investigates the distributed formation control problem for a group of mobile Euler-Lagrange agents to achieve global stabilization by using virtual tensegrity structures. Firstly, a systematic approach to design tensegrity frameworks is elaborately explained to confine the interaction relationships between agents, which allows us to obtain globally rigid frameworks. Then, based on virtual tensegrity frameworks, distributed control strategies are developed such that the mobile agents… CONTINUE READING