Disturbance Attenuation in Distance-Based Formation Control: A Linear Matrix Inequality Approach
Yoo‐Bin Bae, Young‐Hun Lim, Sung-Mo Kang, Hyo‐Sung Ahn · 2018 IEEE Conference on Control Technology and Applications (CCTA) · 2018
In this paper, we discuss disturbance attenuation problem in distance-based formation control under the exogenous disturbance. Based on the Lyapunov stability theory, we derive the matrix inequality condition for local asymptotic boundedness of the overall squared-distance errors of multiagent system. Through simulations, we could see that there exists a positive definite symmetric matrix of linear matrix inequality(LMI), with bounded squared-distance errors of formation system.