Distributed structural stabilization and tracking for formations of dynamic multi-agents
- 27 August 2003
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 209-215
- https://doi.org/10.1109/cdc.2002.1184493
Abstract
In this paper, we provide a theoretical framework that consists of graph theoretical and Lyapunov-based ap- proaches to stability analysis and distributed control of multi-agent formations. This framework relays on the notion of graph rigidity as a means of identifying the shape variables of a formation. Using this approach, we can formally define formations of multiple vehicles and three types of stabilization/tracking problems for dy- namic multi-agent systems. We show how these three problems can be addressed mutually independent of each other for a formation of two agents. Then, we introduce a procedure called dynamic node augmenta- tion that allows construction of a larger formation with more agents that can be rendered structurally stable in a distributed manner from some initial formation that is structurally stable. We provide two examples of for- mations that can be controlled using this approach, namely, the V -formation and the diamond formation.Keywords
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