- Title
- A barycentric coordinate based approach to formation control of multi-agent systems under directed and switching topologies
- Creator
- Han, Tingrui; Zheng, Ronghao; Lin, Zhiyun; Fu, Minyue
- Relation
- 2015 54th IEEE Conference on Decision and Control (CDC). Proceedings of the 2015 54th IEEE Conference on Decision and Control (CDC) ( 15-18 December, 2015) p. 6263-6268
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2015.7403205
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2016
- Description
- This paper studies the formation control problem for a leader-follower network in 3D. The objective is to control the agents to form a globally rigid formation, for which the sensing graph is directed and switching while the communication graph is undirected and switching. Under such a setup, a barycentric coordinate based approach is proposed for the design of formation control laws ensuring global convergence. A necessary and sufficient graphical condition is obtained to guarantee that the followers converge to form a globally rigid formation together with the leaders. By this approach, the formation of the whole group, namely, the orientation, translation and formation scale, can be reconfigured by the leaders.
- Subject
- barycentric coordinate based approach; communication graph; sensing graph; sufficient graphical condition; switching graph; switching topologies; translation scale; undirected graph; directed topologies; formation control; formation scale; globally rigid formation; leader-follower network; multiagent systems; necessary graphical condition; orientation scale
- Identifier
- http://hdl.handle.net/1959.13/1316002
- Identifier
- uon:23053
- Identifier
- ISBN:9781479978861
- Language
- eng
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