Abstract
This paper provides a solution to the nonplanar multiagent formation control problem using graph rigidity. We consider a 3-D multiagent formation control where multiple agents are operating in one plane and some other agents are operating outside of that plane. This can be referred to as a layered formation control where the objective is for all agents to cooperatively acquire a predefined formation shape using a decentralized control law. The proposed control strategy is based on regulating the interagent distances. A rigorous stability analysis is presented that guarantees convergence of these distances to desired values. Simulation results are presented to support the theoretical results.
| Original language | English |
|---|---|
| Article number | 7479527 |
| Pages (from-to) | 1902-1913 |
| Number of pages | 12 |
| Journal | IEEE Transactions on Cybernetics |
| Volume | 47 |
| Issue number | 8 |
| DOIs | |
| State | Published - Aug 2017 |
| Externally published | Yes |
Keywords
- Formation control
- Lyapunov stability
- multiagent control
- rigid graphs
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