Scalable multi‐agent formation control under switching leader–follower directed graph
Djati Wibowo Djamari, Ignatius Pulung Nurprasetio, Ibham Veza, Farid Triawan, Bentang Arief Budiman · Asian Journal of Control · 2021
Abstract This work considers formation control of single integrator agents interconnected under switching leader–follower network, where the size of the formation is scalable via a scaling factor determined by a leader agent. Past works on scalable formation are limited to the case where the communication network is considered to be fixed. This work proposes a new distributed algorithm for scalable formation problem that works under a switching network. The scaling is based on the location of the origin of the formation which can be adjusted by the leader agent. In addition, agents move together along a center path where the offset of the center path can also be adjusted by the leader agent. Numerical examples are shown to illustrate the proposed approach.