Distributed Formation Maneuver Control of Multiagent Systems Over Directed Graphs
研究单积分器和双积分器多智能体系统的编队机动控制，提出适用于非通用或非凸配置的分布式控制算法，使编队的几何模式、平移、方向和尺度可连续变化。
To steer a team of multiple mobile agents to desired collective maneuvers so that the geometric pattern, translation, orientation, and scale of formation can be changed continuously, this article studies the formation maneuver control of single-integrator and double-integrator multiagent systems by a leader-follower strategy. Unlike most existing results requiring generic configurations or convex configurations, the proposed control algorithms can be applied to either nongeneric or nonconvex configurations. Distributed control algorithms are designed for the leaders and followers over directed graphs, respectively, where the formation's maneuver parameters, such as geometric pattern, translation, orientation, and scale of formation are decided by the first leader. It is worth noting that the closed-loop tracking errors converge to zero globally. Some numerical simulations are given to illustrate the theoretical results.