Stress-matrix-based formation scaling control
(2019) In Automatica 101. p.120-127- Abstract
This paper investigates the formation scaling control problem for multi-agent systems by utilizing the stress matrix associated with a universally rigid framework. Compared with the existing results on formation scaling control, we consider a more challenging scenario where only one agent has the knowledge of the desired formation size. To cope with this constraint, we first propose a distributed estimator for the remaining agents to estimate the scaling parameter. Then by employing the outputs of the estimator, we design a new class of formation scaling control algorithms for universally rigid frameworks such that the overall formation converges to the prescribed shape with the desired scaling. Numerical simulations are carried out to... (More)
This paper investigates the formation scaling control problem for multi-agent systems by utilizing the stress matrix associated with a universally rigid framework. Compared with the existing results on formation scaling control, we consider a more challenging scenario where only one agent has the knowledge of the desired formation size. To cope with this constraint, we first propose a distributed estimator for the remaining agents to estimate the scaling parameter. Then by employing the outputs of the estimator, we design a new class of formation scaling control algorithms for universally rigid frameworks such that the overall formation converges to the prescribed shape with the desired scaling. Numerical simulations are carried out to validate the theoretical results.
(Less)
- author
- Yang, Qingkai ; Sun, Zhiyong LU ; Cao, Ming ; Fang, Hao and Chen, Jie
- organization
- publishing date
- 2019-03-01
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Formation control, Multi-agent systems, Stress matrix, Universal rigidity
- in
- Automatica
- volume
- 101
- pages
- 8 pages
- publisher
- Pergamon Press Ltd.
- external identifiers
-
- scopus:85058389754
- ISSN
- 0005-1098
- DOI
- 10.1016/j.automatica.2018.11.046
- language
- English
- LU publication?
- yes
- id
- 30faa50a-d85f-43ce-9fee-73a59af71b77
- date added to LUP
- 2019-01-02 12:04:55
- date last changed
- 2022-04-25 19:45:55
@article{30faa50a-d85f-43ce-9fee-73a59af71b77, abstract = {{<p>This paper investigates the formation scaling control problem for multi-agent systems by utilizing the stress matrix associated with a universally rigid framework. Compared with the existing results on formation scaling control, we consider a more challenging scenario where only one agent has the knowledge of the desired formation size. To cope with this constraint, we first propose a distributed estimator for the remaining agents to estimate the scaling parameter. Then by employing the outputs of the estimator, we design a new class of formation scaling control algorithms for universally rigid frameworks such that the overall formation converges to the prescribed shape with the desired scaling. Numerical simulations are carried out to validate the theoretical results.</p>}}, author = {{Yang, Qingkai and Sun, Zhiyong and Cao, Ming and Fang, Hao and Chen, Jie}}, issn = {{0005-1098}}, keywords = {{Formation control; Multi-agent systems; Stress matrix; Universal rigidity}}, language = {{eng}}, month = {{03}}, pages = {{120--127}}, publisher = {{Pergamon Press Ltd.}}, series = {{Automatica}}, title = {{Stress-matrix-based formation scaling control}}, url = {{http://dx.doi.org/10.1016/j.automatica.2018.11.046}}, doi = {{10.1016/j.automatica.2018.11.046}}, volume = {{101}}, year = {{2019}}, }