Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 61, Issue 5, Pages 1269-1280Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2015.2454711
Keywords
Directed graph; distributed control; formation; multi-agent systems
Funding
- National Natural Science Foundation of China [61273113]
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This paper concentrates on coordinate-free formation control for directed networks, for which the dynamic motion of each agent is assumed to be governed only by a local control. We develop a graph Laplacian approach to solve the global and exponential formation stablization problem using merely relative position measurements between neighbors. First, to capture the sensing and control architectures that are needed to maintain the shape of a formation, a necessary and sufficient topological condition is proposed. Second, a Laplacian-based control law is developed for the stablization problem of a group of mobile agents to a desired formation shape under both fixed and switching topologies due to temporal node failures. Simulation results are provided to demonstrate that our Laplacian-based formation control strategy is inherently fault-tolerant and robust to node failures.
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