Weak Rigidity Theory and Its Application to Formation Stabilization
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Publication:4569571
DOI10.1137/17M1122049zbMATH Open1391.93115arXiv1804.02795OpenAlexW2809493663WikidataQ129639186 ScholiaQ129639186MaRDI QIDQ4569571FDOQ4569571
Authors: Gangshan Jing, Guo-Feng Zhang, Heung Wing Joseph Lee, Long Wang 
Publication date: 25 June 2018
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
Abstract: This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to determine a geometric shape in an arbitrarily dimensional space. A necessary and sufficient graphical condition for infinitesimal weak rigidity of planar frameworks is derived. As an application of the proposed weak rigidity theory, a gradient based control law and a non-gradient based control law are designed for a group of single-integrator modeled agents to stabilize a desired formation shape, respectively. Using the gradient control law, we prove that an infinitesimally weakly rigid formation is locally exponentially stable. In particular, if the number of agents is one greater than the dimension of the space, a minimally infinitesimally weakly rigid formation is almost globally asymptotically stable. In the literature of rigid formation, the sensing graph is always required to be rigid. Using the non-gradient control law based on weak rigidity theory, the sensing graph is unnecessary to be rigid for local exponential stability of the formation. A numerical simulation is performed for illustrating effectiveness of our main results.
Full work available at URL: https://arxiv.org/abs/1804.02795
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Cited In (10)
- Generalized weak rigidity: theory, and local and global convergence of formations
- Stabilisability of discrete-time multi-agent systems under fixed and switching topologies
- Rigidity of similarity-based formation and formation shape stabilization
- Rigidity estimate for two incompatible wells
- Stabilisation of infinitesimally rigid formations of multi-robot networks
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- Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization
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