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Chin. Phys. B, 2015, Vol. 24(9): 090206    DOI: 10.1088/1674-1056/24/9/090206
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Rigidity based formation tracking for multi-agent networks

Bai Lu (白璐), Chen Fei (陈飞), Lan Wei-Yao (兰维瑶)
Department of Automation, Xiamen University, Xiamen 361005, China
Abstract  

This paper considers the formation tracking problem under a rigidity framework, where the target formation is specified as a minimally and infinitesimally rigid formation and the desired velocity of the group is available to only a subset of the agents. The following two cases are considered: the desired velocity is constant, and the desired velocity is time-varying. In the first case, a distributed linear estimator is constructed for each agent to estimate the desired velocity. The velocity estimation and a formation acquisition term are employed to design the control inputs for the agents, where the rigidity matrix plays a central role. In the second case, a distributed non-smooth estimator is constructed to estimate the time-varying velocity, which is shown to converge in a finite time. Theoretical analysis shows that the formation tracking problem can be solved under the proposed control algorithms and estimators. Simulation results are also provided to show the validity of the derived results.

Keywords:  multi-agent system      formation control      graph rigidity      distributed estimator  
Received:  25 January 2015      Revised:  12 March 2015      Accepted manuscript online: 
PACS:  02.30.Yy (Control theory)  
  07.05.Dz (Control systems)  
  02.10.Ox (Combinatorics; graph theory)  
Fund: 

Project supported by the National Natural Science Foundation of China (Grant No. 61473240).

Corresponding Authors:  Chen Fei     E-mail:  feichen@xmu.edu.cn

Cite this article: 

Bai Lu (白璐), Chen Fei (陈飞), Lan Wei-Yao (兰维瑶) Rigidity based formation tracking for multi-agent networks 2015 Chin. Phys. B 24 090206

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