Formation shape and orientation control using projected collinear tensegrity structures

Darren Pais, Ming Cao, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations


The goal of this work is to stabilize the shape and orientation of formations of N identical and fully actuated agents, each governed by double-integrator dynamics. Using stability and rigidity properties inherent to tensegrity structures, we first design a tensegrity-based, globally exponentially stable control law in one dimension. This stabilizes given interagent spacing along the line, thereby enabling shape control of one-dimensional formations. We then couple one-dimensional control laws along independent orthogonal axes to design a distributed control law capable of stabilizing arbitrary shapes and orientations in n dimensions. We also present two methods for formation shape and orientation change, one using smooth parameter variations of the control law, and the other, an n-step collision-free algorithm for shape change between any two formations in n-dimensional space.

Original languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Number of pages6
StatePublished - 2009
Externally publishedYes
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2009 American Control Conference, ACC 2009
Country/TerritoryUnited States
CitySt. Louis, MO

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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