Abstract
AbstractIn this paper, we introduce control laws for multi‐agent formation maneuvering and target interception problems. In the target interception problem, we consider that the target velocity is unknown. Using a single‐integrator agent model, the proposed controls consist of a formation acquisition term, dependent on the graph rigidity matrix, and a formation maneuvering or target interception term. The control laws are only a function of the relative position of agents in an infinitesimally and minimally rigid graph, and either the desired maneuvering velocity of the formation or the target's relative position to the leader. The target interception control includes a continuous dynamic estimation term to identify the unknown target velocity. A Lyapunov‐like stability analysis is used to prove that the control objectives are met.
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