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The HoneyComb Paradigm for Research on Collective Human Behavior

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Distributed Formation Maneuver Control of Multiagent Systems Over Directed Graphs.

Xu Fang, Xiaolei Li, Lihua Xie

IEEE Transactions on Cybernetics

|February 3, 2021

Summary

This study presents a leader-follower control strategy for multiagent systems to achieve flexible formation maneuvers. The novel algorithms enable continuous changes in formation patterns for both single-integrator and double-integrator systems.

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Area of Science:

Robotics
Control Theory
Distributed Systems

Background:

Coordinated control of multiple mobile agents is crucial for complex tasks.
Existing formation control methods often have limitations regarding configuration types.

Purpose of the Study:

To develop distributed control algorithms for continuous formation maneuver control in multiagent systems.
To enable dynamic adjustments of geometric pattern, translation, orientation, and scale.

Main Methods:

A leader-follower strategy is employed for single-integrator and double-integrator multiagent systems.
Distributed control algorithms are designed for leaders and followers over directed graphs.
The first leader dictates formation maneuver parameters.

Main Results:

The proposed control algorithms are applicable to nongeneric and nonconvex configurations.
Closed-loop tracking errors globally converge to zero.
Numerical simulations validate the theoretical findings.

Conclusions:

The study successfully demonstrates a robust formation maneuver control strategy.
The developed methods offer enhanced flexibility for multiagent formations.
Global convergence of tracking errors ensures precise formation control.