Rigid formation control of double-integrator systems

Abstract

In this paper, we study rigid formation control systems modelled by double integrators. Two kinds of double-integrator formation systems are considered, namely formation stabilisation systems and flocking control systems. Novel observations on the measurement requirement, the null space and eigenvalues of the system Jacobian matrix will be provided, which reveal important properties of system dynamics and the associated convergence results. We also establish some new links between single-integrator formation systems and double-integrator formation systems via a parameterised Hamiltonian system, which, in addition, provide novel stability criteria for different equilibria in double-integrator formation systems by using available results in single-integrator formation systems.