Abstract
This work presents the development of a distributed formation control for multiagent systems (MASs) using a fractional-order proportional–integral (FOPI) structure. The fractional control protocol proposed is evaluated on agents modeled with single- and double-integrator dynamics, in which it enhances the convergence speed of the formation and improves the robustness of the system. In addition, a novel method to study the stability and convergence of the MASs in the frequency domain is designed. This allows deriving constraints on the control parameters to guarantee the stability and ensure the formation when the system topology is modeled by a time-invariant undirected graph. Finally, realistic simulations through MATLAB and a Virtual Robot Experimentation Platform (V-REP) validate the effectiveness of the theoretical results.
Sign-in/Register to access full text options 
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 callDisclaimer: 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.
