Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version)
Farhad Mehdifar,
Charalampos P. Bechlioulis,
Farzad Hashemzadeh
et al.
Abstract:This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among neighboring agents are also handled by the appropriate design of certain performance bounds that constrain the inter-agent distance errors. As an extension to the proposed scheme, distance-based formation centroid maneuvering is also studied for disturbance-free agents, in which… Show more
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