2023
DOI: 10.1002/asjc.3242
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Decentralized formation of multi‐agent conformable fractional nonlinear robot systems

Oscar Alejandro Ángeles‐Ramírez,
Guillermo Fernández‐Anaya,
Eduardo Gamaliel Hernández‐Martínez
et al.

Abstract: A novel approach to address the asymptotic stability problem of the decentralized formation control of multi‐agent robot systems considering a cyclic pursuit formation graph is derived by using the classical Lyapunov's stability method and LaSalle's invariance principle. Theoretical development of a local potential function‐based control law and the formulation of the position and formation error dynamics, from the viewpoint of the multi‐variable conformable fractional‐order calculus, is given. In addition, a … Show more

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