.png){kind=icon}
.png){kind=icon}
Return
Translational Drift in Formation Control Under Infeasible Configurations
.png){kind=icon}
PRE
AI
K
O
A
DOI：10.1109/LCSYS.2026.3680276.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
This letter investigates formation control for networks of single-integrators based solely on relative position measurements. Unlike prevalent studies, which assume feasible displacement constraints and focus on convergence conditions, we analyze the closed-loop dynamics when the desired configuration is infeasible. We show that the standard formation control law induces a translational drift whose properties are determined by the sensing topology. We further characterize this drift explicitly in terms of the spectral structure of the graph Laplacian. To eliminate this unintended motion, we propose a distributed control law that compensates for the drift and guarantees convergence to a stationary formation. Numerical simulations validate the theoretical analysis of the drift and demonstrate the effectiveness of the proposed controller.
Keywords:
Instant messaging
Electronic messaging
Internet
Electronic mail
Protocols
Electronic components
Switches
Artificial intelligence
Mobile agents
Data analysis
Formation control
sensing graphs
infeasible configurations
graph theory
translational drift
Journal
I
IF:
2
Papers:
94
Citations:
5.0K
Organization
Cited Papers