Adaptive formation control with self-equilibrium forces
Yoichi MASUDA, Kenji NAGASE · 2016
In this paper we propose a method for designing the distributed adaptive control law that positively utilizes the self-equilibrium condition (the equilibrium state with non-zero control forces). Considering the trade-off between the stiffness of target formation and the control effort, we formulate the control problem to minimize the maximum eigenvalue of the tangent stiffness matrix under a constraint of stability. To solve the problem adaptively, we propose a control scheme applying a distributed eigenvalue estimator and the Lagrange multiplier method. Numerical examples show that the eigenvalues converge to the optimal solution, and fault-tolerant ability is shown with some communication breakdown.