Distributed Tracking of a Rigid Formation for Multi-agent Systems

摘要：

　　In this paper,two algorithms based on the rigidity matrix are proposed to control a formation of a multi-agent system.The objective is to drive all the agents to achieve a predefined formation while following a desired translational velocity under the constrains that the desired velocity is available to only a subset of the agents and the agents have only local interaction.The proposed control algorithms consist of a formation acquisition term which depends on a potential function and the rigidity matrix,and a velocity estimation term.Simulation results are provided to show the effectiveness of the proposed control algorithms.

关键词： Multi-agent System Formation Control Graph Rigidity Decentralized Estimator

作者: BAI Lu CHEN Fei LAN Weiyao

作者单位: Department of Automation,Xiamen University,Xiamen,Fujian 361005,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1288-1292

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）