A Rigid Formation Control Approach for Multi-Agent Systems With Curvature Constraints

A coordinated control law to achieve rigid formation based on directed graph constructed by the Henneberg insertion for multi-agent systems subject to nonholonomic constraints and curvature constraints is proposed. The stability of the multi-agent system is established by the control law, and the co...

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Bibliographic Details
Published inIEEE transactions on circuits and systems. II, Express briefs Vol. 68; no. 11; pp. 3431 - 3435
Main Authors Zhao, Yinxiang, Hao, Yuqing, Wang, Qishao, Wang, Qingyun
Format Journal Article
LanguageEnglish
Published New York IEEE 01.11.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Control stability
Control systems
Control theory
Curvature
curvature constraints
Directed graphs
Formation control
Graph theory
Multi-agent systems
Multiagent systems
Rigidity
Sideslip
Topology
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ISSN1549-7747
1558-3791
DOI10.1109/TCSII.2021.3069768

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Summary:A coordinated control law to achieve rigid formation based on directed graph constructed by the Henneberg insertion for multi-agent systems subject to nonholonomic constraints and curvature constraints is proposed. The stability of the multi-agent system is established by the control law, and the control law can be applied to some practical scenarios, such as the possible sideslip problem or the formation of agents with a minimum turning radius of motion. Finally, the effectiveness of the control approach is illustrated by some numerical simulations.
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ISSN:1549-7747
1558-3791
DOI:10.1109/TCSII.2021.3069768