Taming inter-distance mismatches in formation-motion control for rigid formations of second-order agents

Garcia de Marina Peinado, H., Jayawardhana, B. & Cao, M. 14-Feb-2018 In : IEEE Transactions on Automatic Control. 63, 2, p. 449-462 13 p.

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  • 2018_TAC_second_order

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  • Taming Mismatches in Inter-agent Distances

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This paper presents the analysis on the influence of distance mismatches on the standard gradient-based rigid formation control for second-order agents. It is shown that, akin to the first-order case as recently discussed in the literature, these mismatches introduce two undesired group behaviors: a distorted final shape and a steady-state motion of the group formation. We show that such undesired behaviors can be eliminated by combining the standard rigid formation control law with distributed estimators. Finally, we show how the mismatches can be effectively employed as design parameters in order to control a combined translational and rotational motion of the formation.
Original languageEnglish
Pages (from-to)449-462
Number of pages13
JournalIEEE Transactions on Automatic Control
Issue number2
StatePublished - 14-Feb-2018


  • formation control, rigid formation, motion control, second-order dynamics

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