Leaderless Switching Formation Control under Directed Networks
Ming Lei, Chao Zhou, Shaolei Zhou, Wenguang Zhang · International Conference on Electric Information and Control Engineering · 2012
In this paper, it is studied that the leaderless switching formation control problem of second-order multi-agent under directed networks. A formation matrix is defined in order to quantitative describe formation geometry and the one-to-one correspondence is proved between a formation and its formation matrix. In order to obtain expected formation geometry and velocity, firstly, based on typical consensus algorithms, single agent's formation controller is designed by introducing a formation geometry control term and a velocity control term under directed networks. In further, the multi-agent system's state equation is derived and a sufficient condition of convergence is emphasis analysis. Simulation results show that the system can obtain expected formation geometry and velocity which prove the correctness of the results.