Rigid Formation Control on a Sphere: A Heterogeneous System Approach
研究异构多智能体系统在单位球面上以刚性编队追踪多个目标，利用吸引力和速度对齐实现渐近交会，并给出指数收敛结果。
We consider a heterogeneous multiagent system for tracking multiple targets with a rigid formation on a unit sphere, where the targets and chasing agents are governed by single- and double-integrator models, respectively. To make asymptotic rendezvous between agents and their corresponding targets, we use an autonomous system consisting of attraction forces and velocity alignments. If the target's position, velocity, and acceleration information are available, we derive a multiagent system for complete rendezvous and obtain its exponential convergence result. If we have only the location and velocity information of the targets, we provide an autonomous system for practical rendezvous and the corresponding mathematical analysis. To prove the main results, we employ frame-rotation-structure decomposition for the double-integrator model and the geometric properties of a rigid formation on a sphere. We also provide numerical simulations to confirm our mathematical results and apply them to multiagent dynamics with a rigid formation that patrols the boundary line for a certain area on the sphere.