Abstract
This paper introduces a novel decentralized distance-based formation controller for multi-agent systems by imposing constraints on inter-agent distance errors. Using a Nonlinear Mapping Technique (NMT) for dealing with the distance errors constraints, the problems of connectivity maintenance and collision avoidance between neighboring agents are handled. Furthermore, the proposed control scheme increases formation robustness and prevents convergence of the formation to incorrect shapes when external effects such as disturbances exist. Using Lyapunov based analysis the results are proved for both single and double integrator agent models where the target formation is minimally and infinitesimally rigid in 2-D or 3-D space.
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.
