Scalable multi‐agent formation control under switching leader–follower directed graph

Abstract

This work considers formation control of single integrator agents interconnected under switching leader-follower network, where the size of the formation is scalable via a scaling factor determined by a leader agent. Past works on scalable formation are limited to the case where the communication network is considered to be fixed. This work proposes a new distributed algorithm for scalable formation problem that works under a switching network. The scaling is based on the location of the origin of the formation which can be adjusted by the leader agent. In addition, agents move together along a center path where the offset of the center path can also be adjusted by the leader agent. Numerical examples are shown to illustrate the proposed approach.

An output formation consensus control for leader–follower networked multi‐agent systems under communication constraints and switching topologies

“…In recent years, leader–follower architecture has been widely used in various control problems of multi‐agent systems. Djamari et al in [19] accomplished scalable formation control of interconnected single integrator agents under a switched leader–follower network by designing scaling factors determined by the leader agent. In the work of [20], the relative position‐based formation control problem for leader–follower multi‐agent systems in the first‐ and second‐order cases is implemented in a distributed manner with a prescribed performance strategy.…”

Fuzzy consensus of multi‐agent systems with granular fuzzy uncertainty in communication topology

“…Cooperative control of multi-agent systems (MASs) has been vastly investigated in the last decade and has found a variety of applications [1][2][3][4]. In cooperative control, the fundamental subject is the consensus problem.…”

Finite time time‐varying formation tracking for second‐order multiagent systems with prescribed transient performance

“…The main objective of the formation control is to drive a group of agents forming a predetermined formation pattern while tracking the reference signal. The formation control approaches mainly include the behavior-based approach [4], the virtual structure-based approach [5], and the leader-follower approach [6]. In recent years, the distributed formation control of multiagent systems has been a hot research area, which has the benefits of good scalability and less communication requirements [7][8][9][10][11].…”