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- Chen, Fei, et al.
(author)
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Leader-follower Formation Control with Prescribed Performance Guarantees
- 2020
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In: IEEE Transactions on Control of Network Systems. - : Institute of Electrical and Electronics Engineers (IEEE). - 2325-5870.
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Journal article (peer-reviewed)abstract
- This paper addresses the problem of achieving relative position-based formation control for leader-follower multi-agent systems in a distributed manner using a prescribed performance strategy. Both the first and second-order cases are treated and a leader-follower framework is introduced in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system achieves a target formation within certain prescribed performance transient bounds. Under the assumption of tree graphs, a distributed control law is proposed for the first-order case when the decay rate of the performance functions is within a sufficient bound. Then, two classes of tree graphs that can have additional followers are investigated. For the second-order case, we propose a distributed control law based on a backstepping approach for the group ofleaders to steer the entire system achieving the target formation within the prescribed performance bounds. Finally, several simulation examples are given to illustrate the results.
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