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Stress-matrix-based formation scaling control

Yang, Qingkai ; Sun, Zhiyong LU ; Cao, Ming ; Fang, Hao and Chen, Jie (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.

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author
; ; ; and
organization
publishing date
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
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
2020-12-29 04:00:37
@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},
  language     = {eng},
  month        = {03},
  pages        = {120--127},
  publisher    = {Pergamon},
  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},
}