Generalized Rigidity and Stability Analysis on Formation Control Systems with Multiple Agents
Seong‐Ho Kwon, Hyo‐Sung Ahn · 2019
In this paper, we propose a new concept of a rigidity, i.e. generalized rigidity: a general version over the distance rigidity [1]-[3], bearing rigidity [4]-[6] and weak rigidity [7]-[10]. In contrast with the distance rigidity, bearing rigidity and weak rigidity, the new concept makes use of all of distance, bearing and angle constraints to characterize a unique formation shape. For its application, in the 2- and 3-dimensional spaces, we apply the new concept to formation control problems under a gradient-based control law. Then we analyze the stability of the problems, and consequently provide locally asymptotic stability of desired equilibrium point (desired n-agent formation). Finally, we provide a numerical simulation to show validation on our theories.