A Rigid Formation Control Approach for Multi-Agent Systems With Curvature Constraints
Yinxiang Zhao, Yuqing Hao, Qishao Wang, Qingyun Wang · IEEE Transactions on Circuits & Systems II Express Briefs · 2021
A coordinated control law to achieve rigid formation based on directed graph constructed by the Henneberg insertion for multi-agent systems subject to nonholonomic constraints and curvature constraints is proposed. The stability of the multi-agent system is established by the control law, and the control law can be applied to some practical scenarios, such as the possible sideslip problem or the formation of agents with a minimum turning radius of motion. Finally, the effectiveness of the control approach is illustrated by some numerical simulations.