A fully distributed approach to formation maneuvering control of multi-agent systems

This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant over-all group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable of being designed in a distributed manner, and is implementable locally via relative sensing and communication with neighbors. Necessary and sufficient conditions regarding a critical control parameter are obtained to guarantee the globally asymptotic convergence of the overall system for both the single-integrator kinematics case and the double-integrator dynamics case.

[1]  Siddhartha S. Srinivasa,et al.  Decentralized estimation and control of graph connectivity in mobile sensor networks , 2008, 2008 American Control Conference.

[2]  Lili Wang,et al.  Local formation control strategies with undetermined and determined formation scales for co-leader vehicle networks , 2013, 52nd IEEE Conference on Decision and Control.

[3]  Andrzej Banaszuk,et al.  Hearing the clusters of a graph: A distributed algorithm , 2009, Autom..

[4]  Brian D. O. Anderson,et al.  Combining distance-based formation shape control with formation translation , 2012 .

[5]  Ella M. Atkins,et al.  Distributed multi‐vehicle coordinated control via local information exchange , 2007 .

[6]  Li Qiu,et al.  Developments in Control Theory Towards Glocal Control , 2012 .

[7]  Manfredi Maggiore,et al.  Necessary and sufficient graphical conditions for formation control of unicycles , 2005, IEEE Transactions on Automatic Control.

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

[9]  Zhiyun Lin,et al.  Double-graph formation control for co-leader vehicle networks , 2012, 2012 24th Chinese Control and Decision Conference (CCDC).

[10]  Yu-Ping Tian,et al.  A backstepping design for directed formation control of three‐coleader agents in the plane , 2009 .

[11]  Jorge Cortés,et al.  Global and robust formation-shape stabilization of relative sensing networks , 2009, Autom..

[12]  Hyo-Sung Ahn,et al.  Formation Control and Network Localization via Orientation Alignment , 2014, IEEE Transactions on Automatic Control.

[13]  Alessandro Giua,et al.  Leader-follower formation via complex Laplacian , 2013, Autom..

[14]  Andrea Gasparri,et al.  Decentralized Laplacian eigenvalues estimation for networked multi-agent systems , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[15]  Manfredi Maggiore,et al.  Distributed Control and Analysis of Coupled Cell Systems , 2008 .

[16]  Lili Wang,et al.  Realizability of similar formation and local control of directed multi-agent networks in discrete-time , 2013, 52nd IEEE Conference on Decision and Control.

[17]  Siddhartha S. Srinivasa,et al.  Decentralized estimation and control of graph connectivity in mobile sensor networks , 2008, ACC.