Formation shape control: Global asymptotic stability of a four-agent formation

@article{Summers2009FormationSC,
  title={Formation shape control: Global asymptotic stability of a four-agent formation},
  author={Tyler H. Summers and Changbin Yu and Brian D. O. Anderson and Soura Dasgupta},
  journal={Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference},
  year={2009},
  pages={3002-3007}
}
This paper considers formation shape control of a team of four agents in the plane, motivated by an example from [1]. We utilize bidirectional, gradient-based interagent distance control laws which are designed so that the agents cooperatively achieve a specified desired formation shape. When every interagent distance is actively controlled (i.e. the information architecture is a complete graph), there may exist equilibrium formation shapes with incorrect interagent distances. We prove that any… CONTINUE READING
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