Abstract

In this paper, we consider the problem of distance-based formation control of multi-agent systems moving in three-dimensional (3D) space. An acyclic minimally structural persistent (AMSP) graph is used to construct the formation for 3D applications. We propose a decentralized dynamic formation control law based on the relative position measurements. An adaptive estimator is applied to estimate the unknown moving velocity. Using graph theory and nonlinear control theory, the convergence of the system is theoretically analyzed. The proposed estimation-based control law could steer the multi-agent system to achieve the desired formation, where the size of the formation can be adjusted during moving for some certain applications. Finally, a simulation is performed to demonstrate the effectiveness of the formation control strategy.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.