Distance-Based Formation Control Over Directed Triangulated Laman Graphs in 2-D Space
Reza Babazadeh, Rastko R. Šelmić · 2020
In this paper, the problem of distance-based formation control over directed graphs is studied. We consider the desired distance-based formation modeled as a directed graph where each edge is assigned to only one of its incident agents to preserve the desired distance. We propose a distributed control solution based on the state-dependent Riccati equation (SDRE) method that guarantees the formation's asymptotic stability. Moreover, we developed a procedure for preventing the formation's flip ambiguity where the signed area constraints are used. We also provide an extension that guarantees collision avoidance besides preventing the flip ambiguity. Simulation results are provided to illustrate the effectiveness of the proposed methods.