Quantization effects in rigid formation control

Zhiyong Sun, Héctor Garcia De Marina, Brian D.O. Anderson, Ming Cao

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstrakt

In this paper we discuss quantization effects in rigid formation control systems when target formations are described by inter-agent distances. Because of practical sensing and measurement constraints, we consider in the paper distance measurements in their quantized forms. We show that under gradient-based formation control, in the case of uniform quantization, the distance errors converge locally to a bounded set whose size depends on the quantization error, while in the case of logarithmic quantization, all distance errors converge locally to zero. A special quantizer involving the signum function is then considered with which all agents can only measure coarse distances in terms of binary information. In this case the formation converges locally to a target formation within finite time.

OriginalsprogEngelsk
Titel2016 Australian Control Conference, AuCC 2016
ForlagIEEE
Publikationsdato2. mar. 2017
Sider168-173
ISBN (Trykt)978-1-5090-5764-1
ISBN (Elektronisk)978-1-922107-90-9
DOI
StatusUdgivet - 2. mar. 2017
Udgivet eksterntJa
Begivenhed2016 Australian Control Conference, AuCC 2016 - Newcastle, Australien
Varighed: 3. nov. 20164. nov. 2016

Konference

Konference2016 Australian Control Conference, AuCC 2016
LandAustralien
ByNewcastle
Periode03/11/201604/11/2016

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