Quantization effects in rigid formation control

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

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2016 Australian Control Conference, AuCC 2016
PublisherIEEE
Publication date2. Mar 2017
Pages168-173
ISBN (Print)978-1-5090-5764-1
ISBN (Electronic)978-1-922107-90-9
DOIs
Publication statusPublished - 2. Mar 2017
Externally publishedYes
Event2016 Australian Control Conference, AuCC 2016 - Newcastle, Australia
Duration: 3. Nov 20164. Nov 2016

Conference

Conference2016 Australian Control Conference, AuCC 2016
Country/TerritoryAustralia
CityNewcastle
Period03/11/201604/11/2016

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