Multi-agent formation maneuvering and target interception with double-integrator model
Xiaoyu Cai, Marcio S. de Queiroz · 2014
This paper introduces distance-based control laws for the multi-agent formation maneuvering and target interception problems using a double-integrator agent model and rigid graph theory. The proposed controls consist of a formation acquisition term, dependent on the graph rigidity matrix, and a formation maneuvering or target interception term. The control laws are only a function of the relative position/velocity of agents in an infinitesimally and minimally rigid graph, the agent's own velocity, and either the desired velocity of the formation or the target's relative position to the leader and velocity. The target interception control includes a variable structure-type term to compensate for the unknown target acceleration. A Lyapunov-based stability analysis is used to prove that the control objectives are met.