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- W4313010128 abstract "This article studies distance-based formation control of a set of nonlinear multiagent systems over directed graphs. We propose a distributed, distance-based formation control scheme for a set of heterogeneous, nonlinear agents over a particular class of minimally, structurally persistent, directed graphs in a 3-D space, namely, <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>directed trilateral Laman</i> graphs. The responsibility of controlling each directed edge is assigned to only one of the adjacent agents. The state-dependent Riccati equation is used to design the control method for nonlinear agents. Based on the mathematical induction and stability theory of cascade interconnected systems, we rigorously prove the asymptotic stability of the overall formation. A combination of signed area and volume constraints is used to prevent agents from converging to the flip-ambiguous frameworks in 3-D space. The proposed control law assures collision avoidance between the neighboring pairs of agents. Simulation results are provided to verify the theoretical results." @default.
- W4313010128 created "2023-01-05" @default.
- W4313010128 creator A5064990097 @default.
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- W4313010128 date "2023-06-01" @default.
- W4313010128 modified "2023-09-29" @default.
- W4313010128 title "Directed Distance-Based Formation Control of Nonlinear Heterogeneous Agents in 3-D Space" @default.
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- W4313010128 doi "https://doi.org/10.1109/taes.2022.3219039" @default.
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