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It is shown for any rigidity-based, undirected triangular formation of the type studied in [1], that if neighboring agents in the formation have slightly different understandings of what the desired distance between them is suppose to be, then almost for certain, the trajectory of the resulting distorted but rigid formation will converge exponentially fast to a closed orbit in ℝ2 which is traversed...
In the present paper we discuss numerical solution strategies for robust optimal control problems. Here, our motivation is to optimize the dynamic open-loop behaviour of a kite, which is affected by unknown wind turbulence. After reviewing some existing strategies for robust optimal control, we specialize on a particular approach which uses a Lyapunov differential equation in order to approximate...
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