A Unified Approach for Finite-Time Global Stabilization of Affine, Rigid and Translational Formation

Date

2021

Authors

Lin, Yanjun
Lin, Zhiyun
Sun, Zhiyong
Anderson, Brian

Journal Title

Journal ISSN

Volume Title

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

This article studies the multi-agent control problem for affine, rigid, and translational formation, with the aim of developing a unified distributed control strategy for global and finite-time convergence. Global stabilization of rigid formation in arbitrary dimensional spaces still remains open and challenging. This paper provides a general solution to it based on the sliding mode control idea. The control law design consists of two parts: the main control force regulates the trajectories of all agents to reach a sliding surface defined by an affine formation space in finite time and remain in it thereafter; the extra control force governs certain chosen leader agents towards the desired formation in the sliding surface. The paper then presents in detail two approaches for designing the extra control force, one based on distance constraints and the other based on relative position constraints. For the first time, the proposed sliding mode formation control laws solve the open problem of (almost) global and finite-time stabilization of affine, rigid and translational formations in any dimensional space.Simulation results are provided to illustrate the effectiveness of the proposed control schemes.

Description

Keywords

Multi-agent systems, formation control, affine formation, distributed algorithm

Citation

Source

IEEE Transactions on Automatic Control

Type

Journal article

Book Title

Entity type

Access Statement

License Rights

DOI

10.1109/TAC.2021.3084247

Restricted until

2099-12-31