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Distributed formation tracking using local coordinate systems

Abstract : This paper studies the formation tracking problem for multi-agent systems, for which a distributed estimator–controller scheme is designed relying only on the agents’ local coordinate systems such that the centroid of the controlled formation tracks a given trajectory. By introducing a gradient descent term into the estimator, the explicit knowledge of the bound of the agents’ speed is not necessary in contrast to existing works, and each agent is able to compute the centroid of the whole formation in finite time. Then, based on the centroid estimation, a distributed control algorithm is proposed to render the formation tracking and stabilization errors to converge to zero, respectively. Finally, numerical simulations are carried to validate our proposed framework for solving the formation tracking problem.
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https://hal-enac.archives-ouvertes.fr/hal-01691411
Contributor : Laurence Porte <>
Submitted on : Tuesday, January 23, 2018 - 11:31:44 PM
Last modification on : Tuesday, February 11, 2020 - 1:58:01 PM

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Qingkai Yang, Ming Cao, Hector Garcia de Marina, Hao Fang, Jie Chen. Distributed formation tracking using local coordinate systems. Systems and Control Letters, Elsevier, 2018, 111, pp.70 - 78. ⟨10.1016/j.sysconle.2017.11.004⟩. ⟨hal-01691411⟩

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