Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements

Zhiyong Sun*, Hector Garcia de Marina, Brian D.O. Anderson, Ming Cao

*Corresponding author for this work

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In this paper, we discuss quantization effects in rigid formation control systems when target formations are described by interagent distances. Because of practical sensing and measurement constraints, we consider in this 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 a finite time. Lastly, we discuss the effect of asymmetric uniform quantization on rigid formation control.

Original languageEnglish
JournalInternational Journal of Robust and Nonlinear Control
Issue number16
Pages (from-to)4865-4884
Publication statusPublished - 10. Nov 2018



  • binary measurement
  • quantization effect
  • rigid formation control

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