Formation Control of Multi-Agent Systems with Region Constraint

In this paper, the formation problem for multi-agent systems with region constraint is studied while few researchers consider this problem. The goal is to control all multi-agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation control law is presented based on local information of the neighborhood. It is proved that the positions of all the agents would converge to the set constraint while reaching formation. Finally, two numerical examples are presented to illustrate the validity of the theoretical results.

[1]  Yuanqing Xia,et al.  Formation control and collision avoidance for multi-agent systems based on position estimation. , 2016, ISA transactions.

[2]  Guoqiang Hu,et al.  Time-varying formation control for general linear multi-agent systems with switching directed topologies , 2016, Autom..

[3]  Sung-Mo Kang,et al.  Design and Realization of Distributed Adaptive Formation Control Law for Multi-Agent Systems With Moving Leader , 2016, IEEE Transactions on Industrial Electronics.

[4]  Zhang Ren,et al.  Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying , 2017, IEEE Transactions on Industrial Electronics.

[5]  A.S. Morse,et al.  Finite Time Distance-based Rigid Formation Stabilization and Flocking , 2014 .

[6]  Guangming Xie,et al.  Moving formation convergence of a group of mobile robots via decentralised information feedback , 2009, Int. J. Syst. Sci..

[7]  Zengqiang Chen,et al.  Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics , 2013 .

[8]  Eduardo Gamaliel Hernández-Martínez,et al.  Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints , 2017, Complex..

[9]  B. Roth,et al.  The rigidity of graphs, II , 1979 .

[10]  Pengpeng Zhang,et al.  Directed Formation Control of n Planar Agents with Distance and Area Constraints , 2019, 2019 American Control Conference (ACC).

[11]  Long Wang,et al.  Angle-based Shape Determination Theory of Planar Graphs with Application to Formation Stabilization , 2018, Autom..

[12]  Guoqiang Hu,et al.  Time-Varying Output Formation for Linear Multiagent Systems via Dynamic Output Feedback Control , 2017, IEEE Transactions on Control of Network Systems.

[13]  Wei Ren,et al.  Distributed coordination architecture for multi-robot formation control , 2008, Robotics Auton. Syst..

[14]  Yun-Shan Wei,et al.  Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions , 2018, Complex..

[15]  YangQuan Chen,et al.  Formation control: a review and a new consideration , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Hyo-Sung Ahn,et al.  A survey of multi-agent formation control , 2015, Autom..

[17]  Eduardo Gamaliel Hernández-Martínez,et al.  Adaptive control of distance-based spatial formations with planar and volume restrictions , 2016, 2016 IEEE Conference on Control Applications (CCA).

[18]  Richard M. Murray,et al.  INFORMATION FLOW AND COOPERATIVE CONTROL OF VEHICLE FORMATIONS , 2002 .

[19]  Ge Guo,et al.  Velocity free leader-follower formation control for autonomous underwater vehicles with line-of-sight range and angle constraints , 2019, Inf. Sci..

[20]  W. Ren.  Consensus strategies for cooperative control of vehicle formations , 2007 .

[21]  Long Wang,et al.  Finite-time formation control for multi-agent systems , 2009, Autom..

[22]  Hyo-Sung Ahn,et al.  Distributed formation control via global orientation estimation , 2016, Autom..

[23]  Eduardo Gamaliel Hernández-Martínez,et al.  Distance-based Formation Control Using Angular Information Between Robots , 2016, J. Intell. Robotic Syst..

[24]  Lili Wang,et al.  Distributed Formation Control of Multi-Agent Systems Using Complex Laplacian , 2014, IEEE Transactions on Automatic Control.

[25]  Yisheng Zhong,et al.  Formation Control for High-Order Linear Time-Invariant Multiagent Systems With Time Delays , 2014, IEEE Transactions on Control of Network Systems.

[26]  Shuzhi Sam Ge,et al.  Formation Tracking Control of Multiagents in Constrained Space , 2016, IEEE Transactions on Control Systems Technology.