具有恒定相对位置测量偏差的无向刚性地层鲁棒控制

2016 American Control Conference (ACC) Pub Date : 2016-07-06 DOI:10.1109/ACC.2016.7524906

Fengjiao Liu, A. Morse, B. Anderson

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引用次数: 5

摘要

研究了一类最小无穷小刚体在邻体相对位置测量中存在恒定偏差时的鲁棒控制问题。结果表明，通过适当修改标准梯度控制，可以在相对位置上获得较小的误差。

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Robust control of undirected rigid formations with constant measurement bias in relative positions

This paper investigates the robust control of a class of minimally infinitesimally rigid formations in the face of constant bias in the measurements of relative positions between neighboring agents. It is shown that by appropriately modifying standard gradient controls, desired formation shape can be achieved up to small errors in relative positions.

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来源期刊

2016 American Control Conference (ACC)

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