This paper shows that the modified gradient control law proposed in Tian and Wang (2013) does not globally stabilize rigid formation shapes. Also, further analysis on the control law and a numerical example showing that the control law cannot drive the agents out from a stable incorrect equilibrium of the corresponding gradient control system are provided.
['Minh Hoang Trinh', 'Viet Hoang Pham', 'Myoung-Chul Park', 'Zhiyong Sun', 'Brian D. O. Anderson', 'Hyo-Sung Ahn']
Comments on “Global stabilization of rigid formations in the plane [Automatica 49 (2013) 1436–1441]” ☆