Leader-follower Formation Control Problem Research Articles

Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics

In this paper, the leader-following formation control problem for second-order multiagent systems with time-varying delay and nonlinear dynamics is considered. Two different cases of coupling topologies, fixed topology and switching topology, are analyzed. Based on the Lyapunov theory combined with the linear matrix inequality (LMI) method, sufficient conditions in terms of LMIs are given to ensure the multiagent systems can reach and maintain the desired formation. The simulation results are provided to demonstrate the effectiveness of the obtained theory results.

Adaptive control schemes for mobile robot formations with triangularised structures

The study investigates the leader–follower formation control problem, for which the objective is to control a group of robots such that they move as a rigid formation with a prescribed constant velocity. It is assumed in the study that there are two leader robots, who are the only robots in the group that are informed about the prescribed velocity. All the other robots are followers and do not have the reference velocity information. The authors take the robotic formation as coupled triangular sub-formations and develop adaptive control strategies to enable each follower robot to attain and maintain a stable triangular formation with respect to its two leading neighbours. As a result, the whole group forms a rigid formation. Analyses on convergence and stability properties of equilibrium formations are provided, which show that the desired formation is asymptotically stable. Finally, simulations are given to illustrate our results.