Circular formation control of mobile agents with limited interaction range and input saturation
C Song, H Xu, Y Fan - 2019 IEEE/ASME International …, 2019 - ieeexplore.ieee.org
C Song, H Xu, Y Fan
2019 IEEE/ASME International Conference on Advanced Intelligent …, 2019•ieeexplore.ieee.orgThe circular formation problem for multi-agent systems with limited interaction range and
input saturation is addressed in this paper. Low gain feedback is used to develop distributed
formation control laws for each agent. It is shown that the desired circular formation can be
formed if the agents' interaction range is sufficiently large and each low control gain is upper
bounded by a given constant. Order preservation of the agents is also guaranteed under the
formation control laws such that collision among the agents can be prevented throughout the …
input saturation is addressed in this paper. Low gain feedback is used to develop distributed
formation control laws for each agent. It is shown that the desired circular formation can be
formed if the agents' interaction range is sufficiently large and each low control gain is upper
bounded by a given constant. Order preservation of the agents is also guaranteed under the
formation control laws such that collision among the agents can be prevented throughout the …
The circular formation problem for multi-agent systems with limited interaction range and input saturation is addressed in this paper. Low gain feedback is used to develop distributed formation control laws for each agent. It is shown that the desired circular formation can be formed if the agents' interaction range is sufficiently large and each low control gain is upper bounded by a given constant. Order preservation of the agents is also guaranteed under the formation control laws such that collision among the agents can be prevented throughout the circular formation task. Finally, a simulation example is provided to illustrate the effectiveness of the proposed control laws.
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