Distributed rigid formation control algorithm for multi‐agent systems
Abstract
Purpose
Rigidity of formation is an important concept in multi‐agent localization and control problems. The purpose of this paper is to design the control laws to enable the group to asymptotically exhibit the flocking motion while preserving the network rigidity at all times.
Design/methodology/approach
The novel approach for designing control laws is derived from a smooth artificial potential function based on an undirected infinitesimally rigid formation which specifies the target formation. Then the potential function is used to specify a gradient control law, under which the original system then becomes an orderly infinitesimally rigid formation.
Findings
The strong relationship between the stability of the target formation and the gradient control protocol are utilized to design the control laws which can be proved to make the target formation stable. However, the rigidity matrix is not utilized in the design of control law. Future research will mainly focus on formation control with the relationship of rigidity matrix.
Originality/value
The value of this paper is focused on the control laws design and the control laws could enable the group to asymptotically exhibit the flocking motion while preserving the network rigidity at all times. Also the detailed simulations and experiments are given to prove that the novel approach is available.
Keywords
Citation
Cao, H., Bai, Y. and Liu, H. (2012), "Distributed rigid formation control algorithm for multi‐agent systems", Kybernetes, Vol. 41 No. 10, pp. 1650-1661. https://doi.org/10.1108/03684921211276819
Publisher
:Emerald Group Publishing Limited
Copyright © 2012, Emerald Group Publishing Limited