Year: 2025
Type: preprint
Abstract: Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a generalized consensus system where the stress matrix, which encodes the graph structure, is used instead of a graph Laplacian. Universally rigid frameworks (URFs) guarantee the existence of the stress matrix and have thus become the guideline for such a network design. In this work, we propose a convex optimization framework to design the stress matrix for AFC without predefining a rigid graph. We aim to find a resulting network with a reduced number of communication links, but still with a fast convergence speed. We show through simulations that our proposed solutions can yield a more sparse graph, while admitting a faster convergence compared to the state-of-the-art solutions.
Source: arXiv (Cornell University)
Authors: Li, Zhonggang, Leus, Geert, Rajan, Raj Thilak
Language: English
Subfield: Computer Networks and Communications
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7078545310
Cites:
Cited by:
Related to: