Quantization effects in rigid formation control

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

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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
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages168-173
Number of pages6
ISBN (Electronic)978-1-922107-90-9
ISBN (Print)978-1-5090-5764-1
DOIs
Publication statusPublished - 1-Mar-2017
Event2016 Australian Control Conference, AuCC 2016 - Newcastle, Australia
Duration: 3-Nov-20164-Nov-2016

Publication series

Name2016 Australian Control Conference, AuCC 2016

Conference

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

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