Stress-matrix-based formation scaling control

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Formation control

Multi-agent systems

Stress matrix

Universal rigidity

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