Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs
2014 ◽
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In this paper, we consider the problem of formation control of multi-agent systems where the desired formation is dynamic. This is motivated by applications, such as obstacle avoidance, where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, inter-agent distance error dynamics and ensures tracking of the desired formation. The extension to the formation maneuvering problem is also discussed. Simulation results for a five-agent formation demonstrate the control in action.
2013 ◽
Vol 136
(1)
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2016 ◽
Vol 63
(2)
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pp. 1268-1279
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2021 ◽
pp. 1-15
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