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arXiv · 1809.02562

Generalized weak rigidity: Theory, and local and global convergence of formations

Seong-Ho Kwon·Hyo-Sung Ahn
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Abstract

This paper discusses generalized weak rigidity theory, and aims to apply the theory to formation control problems with a gradient flow law. The generalized weak rigidity theory is utilized in order that desired formations are characterized by a general set of pure inter-agent distances and angles. As the first result of its applications, the paper provides analysis of locally exponential stability for formation systems with pure distance/angle constraints in the $2$- and $3$-dimensional spaces. Then, as the second result, if there are three agents in the $2$-dimensional space, almost globally exponential stability for formation systems is ensured. Through numerical simulations, the validity of analyses is illustrated.

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Seong-Ho Kwon, Hyo-Sung Ahn. 2018-09-07. Generalized weak rigidity: Theory, and local and global convergence of formations. https://arxiv.org/abs/1809.02562

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