Finite-time convergence of acyclic generically persistent formations
Viet Hoang Pham, Minh Hoang Trinh, Hyo‐Sung Ahn · 2018
In this paper, we study the distance-based formation control problem of multi-agent system whose interaction graph is acyclic generically persistent in the plane. We design a distributed control law, in which each agent is required to measure only relative positions of its neighbours with respect to its own coordinate system. For ordinary followers which have three neighbours, we use the concept of virtual leader to avoid their convergences to undesired equilibria. Due to the repulsiveness of undesired equilibrium and the stability of desired one, the proposed control law is shown to guarantee successfully the formation of overall group of agents to converge globally to the desired formation in finite time. Simulation result is provided to corroborate our analysis.