A Barycentric Coordinate-Based Approach to Formation Control Under Directed and Switching Sensing Graphs
研究了三维空间中领导者-跟随者网络的编队行进和编队旋转控制问题，在有向和切换感知拓扑下，利用重心坐标设计局部控制律，保证全局收敛。
This paper investigates two formation control problems for a leader-follower network in 3-D. One is called the formation marching control problem, the objective of which is to steer the agents to maintain a target formation shape while moving with the synchronized velocity. The other one is called the formation rotating control problem, whose goal is to drive the agents to rotate around a common axis with a target formation. For the above two problems, we consider directed and switching sensing topologies while the communication is assumed to be bidirectional and switching. We develop approaches utilizing barycentric coordinates toward these two problems. Local control laws and graphical conditions are acquired to ensure global convergence in both scenarios.