Proportional-Integral Formation Control for Multi-Agent Systems with Time-Varying Attitudes under Relative Measurements

Abstract

This paper addresses a formation control problem for multi-agent systems with heterogeneous drift velocities and time-varying attitudes. Each agent is assumed to be able to measure relative states of neighbor agents in its local frame. We propose a distributed and relative feedback controller consisting of formation error among neighbors and its integral value, called proportional-integral (PI) formation controller. We show that the proposed controller can completely eliminate the formation error in spite of the existence of time-varying disturbances, caused by the variations of the agent attitudes. The effectiveness of the proposed controller is illustrated by a simulation result.