Decentralized Formation Control with Prescribed Distance Constraints and Shape Uniqueness

Yuqi Pan, Binglin He, Junyi Geng, Yang Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For Multi-Agent Systems (MAS) formation problem, this paper presents a novel decentralized control protocol that can guarantee the uniqueness of formation shape and restrain the distance between neighboring agents within a prescribed range. The proposed control law is decentralized, in the sense that each agent merely employs local relative information regarding its neighbors to obtain the control input. Using a delicately designed gain matrix, we avoid the problem of non-uniqueness of shape that is existed in the majority of the decentralized formation methods, especially the distance-based methods. Meanwhile, the distance constraints, like connectivity maintenance and collision avoidance, required in many practical scenarios are also addressed. Furthermore, the convergence of formation is rigorously proved under a less restrictive assumption on the communication graph. Finally, a comparative simulation verifies the effectiveness and superiority of proposed approach.

Original languageEnglish (US)
Title of host publication2023 American Control Conference, ACC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1345-1352
Number of pages8
ISBN (Electronic)9798350328066
DOIs
StatePublished - 2023
Event2023 American Control Conference, ACC 2023 - San Diego, United States
Duration: May 31 2023Jun 2 2023

Publication series

NameProceedings of the American Control Conference
Volume2023-May
ISSN (Print)0743-1619

Conference

Conference2023 American Control Conference, ACC 2023
Country/TerritoryUnited States
CitySan Diego
Period5/31/236/2/23

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this