Abstract
This paper deals with a rigid formation control problem of n agents moving in the plane, where each agent is required to maintain a nominated distance from its neighbors, and each agent is described by a double integrator. A globally stable formation control strategy is designed to drive the multi-agent systems to a desired rigid formation using the integrator backstepping technique and the adaptive perturbation method. Therefore, the proposed control law can guarantee that the equilibrium set of the overall system is unique, and all agents' velocity converge to a common value without collision between each communicating agents. Simulation results are provided to illustrate the effectiveness of the control algorithm.
Published Version
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