Clique-Based Distributed PI Control for Multiagent Coordination With Heterogeneous, Uncertain, Time-Varying Orientations
Kazunori Sakurama · IEEE Transactions on Control of Network Systems · 2020
This article addresses a coordination problem for multiagent systems over relative measurements, where agents have heterogeneous, uncertain, time-varying orientations and suffer from input disturbances. In this situation, relative measurements can be uncertainly perturbed, the direction of motion by control input can be unexpectedly fluctuated, and input disturbances will randomly drive agents. To overcome these issues, we develop a proportional-integral (PI) formation controller that completely removes formation errors, whereas PI control is generally effective to time-invariant disturbances. Here, the formation errors are evaluated according to cliques (i.e., complete subgraphs) instead of edges to provide the best performance of distributed, relative controllers. The effectiveness of the proposed controller is illustrated by a simulation.