Formation of multi-agent systems with desired orientation : a distance-based control approach

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Detail(s)

Original languageEnglish
Pages (from-to)3351–3361
Journal / PublicationNonlinear Dynamics
Volume106
Issue number4
Online published9 Oct 2021
Publication statusPublished - Dec 2021

Abstract

This paper proposes a nonlinear distance-based rigid formation shape control strategy with desired orientation, where the mutual perceptual relationships among agents are represented by a persistent directed graph. Only the orientation of the local coordinates of an agent is required to be consistent with the orientation of the global coordinate frame. The domain of attraction is characterized for the multi-agent system to achieve the desired formation control. For the first-order model, some precise initial conditions for the multi-agent systems to achieve the formation shape with desired orientation are derived. Some simulation examples are provided to verify the effectiveness of the control laws.

Research Area(s)

  • Bifurcation, Directed graph, Formation orientation, Multi-agent system, Nonlinear system

Citation Format(s)

Formation of multi-agent systems with desired orientation : a distance-based control approach. / Zhao, Yinxiang; Hao, Yuqing; Wang, Qishao; Wang, Qingyun; Chen, Guanrong.

In: Nonlinear Dynamics, Vol. 106, No. 4, 12.2021, p. 3351–3361.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review