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.
- Dynamic Systems and Control Division
Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs
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Cai, X, & de Queiroz, M. "Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. San Antonio, Texas, USA. October 22–24, 2014. V001T14A003. ASME. https://doi.org/10.1115/DSCC2014-5893
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