Abstract
This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws.
Highlights
The consensus problem of multiagent systems has gained considerable interest in the research community recently
Higher order multiagent systems have been studied by Wang et al [2] using multiple Lyapunov functions, showing that consensus can be reached under a switching topology within a finite set of digraphs with an average delay time between changes
This paper addresses the case of formation tracking of a combined set of first- and second-order agents in an undirected graph communication
Summary
The consensus problem of multiagent systems has gained considerable interest in the research community recently. This paper extends our previous work in HernandezMartinez et al [18], focusing on static DFC, for the case of formation tracking of heterogeneous agents communicated by an arbitrary undirected graph. (iii) In order to avoid symmetric solutions, a second strategy is designed to add desired area constraints related to the standard triple product of a subset of robots It defines a new area based or planar topology based on triplets of robots separately of the previous distance formation topology. The definition of the planar topology related to the area constraints is given in Section 4 and the addition of this planar topology to the previous DFC is studied, completed with the analysis of the appendix section
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