Adaptive Formation Control of Multiagent Systems Based on Ratio-of-Distance Rigidity

• 成果类型: Article
• 署名作者: Wang, Yujie; Liu, Shuai; Xu, Haotian
• 署名单位: Shandong University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3477128
• 发表日期: 2025
• 页码: 1988-1995
• 关键词: Formation control; RIGIDITY; stability analysis; shape; uncertainty; Protocols; Closed loop systems; Position measurement; Multi-agent systems; Aerospace electronics; Adaptive formation control; multiagent systems; nonsmooth stability analysis; ratio-of-distance (RoD) rigidity

摘要

This article studies rigid formation control of multiagent systems with nonlinear uncertainties. Unlike most existing research, ratio-of-distance (RoD) rigidity theory is introduced, and nonlinear uncertainties are thoroughly discussed. Desired formation shapes are formulated by a special class of RoD-based rigid frameworks. This article considers how to design distributed adaptive control protocols to drive all agents to acquire and maintain desired formation shapes while simultaneously maneuvering along with desired velocities. Both time-invariant and time-varying formation maneuvering are involved. Along with leader-follower strategy, subgraphs of RoD-based rigid graphs are extracted out as maneuvering velocity graphs to save resources of velocity communication. As for complicated time-varying situations, the nonsmooth stability analysis based on differential inclusion theory is employed for controller design.