• Corpus ID: 64773590

Formation Control of Rigid Graphs with a Flex Node Addition

  title={Formation Control of Rigid Graphs with a Flex Node Addition},
  author={Viet Hoang Pham and Minh Hoang Trinh and Hyo‐Sung Ahn},
  journal={arXiv: Optimization and Control},
This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but there exist undesired equilibria. Specifically, we further consider two cases where the rigid graph is a triangle in 2-D and a tetrahedral in 3-D, and prove that any undesired equilibrium point in these cases is unstable. Thus in these cases, the desired… 

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