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Multi-agent Formation Control in Switching Networks using Backstepping Design
Qin Wang,Qingguang Hua,Yang Yi,Tianping Zhang 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
A rigid formation control problem of n agents described by double integrators is proposed in this paper. At the same time, the arbitrary switching topology with no dwell time between consecutive switches is considered. Then the nonsmooth analysis, the backstepping technique and the adaptive perturbation method are employed todesign the globally stable rigid formation control strategy. The main result is that regardless of the topology switching,the global stabilization of the rigid formation, the convergence to a common velocity vector and the collisionavoidance between communicating agents are still guaranteed as long as the graph topology remains rigid all thetime. Simulations are given to demonstrate the effectiveness of the proposed control algorithm.