Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.

  

Certifying non-existence of undesired locally stable equilibria in formation shape control problems

Author(s):

T.H. Summers, Brian D.O. Anderson, Changbin Yu, Soura Dasgupta
Conference/Journal:

IEEE Multi-Conference on Systems and Control
Abstract:

A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a large and growing literature has recently emerged on distance-based formation shape control, global stability properties remain a significant open problem. Even in four-agent formations, the basic question of whether or not there can exist locally stable incorrect equilibrium shapes remains open. This paper shows how this question can be answered for any size formation in principle using semidefinite programming techniques for semialgebraic problems, involving solutions sets of polynomial equations, inequations, and inequalities.

Year:

2013
Type of Publication:

(01)Article
Supervisor:



File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@InProceedings { SumEtal:2013:IFA_4395,
    author={T.H. Summers and Brian D.O. Anderson and Changbin Yu and Soura
	  Dasgupta},
    title={{Certifying non-existence of undesired locally stable
	  equilibria in formation shape control problems}},
    booktitle={IEEE Multi-Conference on Systems and Control},
    pages={},
    year={2013},
    address={},
    month=aug,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=4395}
}
Permanent link