- Title
- Three-dimensional formation merging control of second-order agents under directed and switching topologies
- Creator
- Han, Tingrui; Lin, Zhiyun; Xu, Wenyuan; Fu, Minyue
- Relation
- 11th IEEE International Conference on Control and Automation. Proceedings of the 2014 11th IEEE International Conference on Control and Automation (Taichung, Taiwan 18-20 June, 2014) p. 225-230
- Publisher Link
- http://dx.doi.org/10.1109/ICCA.2014.6870924
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2014
- Description
- This paper investigates the formation merging problem for a leader-follower network. The objective is to control a group of agents called followers and modeled by double-integrator dynamics so that they are merged with another group of agents called leaders to form a single globally rigid formation. With the assumption that leaders move in a globally rigid formation with their synchronized velocity known to the followers, we show that a globally rigid formation can be merged. Each follower selects its neighbors and control law according to the target configuration and thus it allows directed and time-varying switching topologies. We provide a necessary and sufficient condition such that a globally rigid formation can be merged asymptotically for the leader-follower network in a setup with directed and time-varying graphs. © 2014 IEEE.
- Subject
- directed graphs; multi-robot systems; position control; time-varying systems
- Identifier
- http://hdl.handle.net/1959.13/1294537
- Identifier
- uon:18824
- Identifier
- ISBN:9781479928378
- Language
- eng
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