Distance-Based Formation Control of Nonlinear Agents Over Planar Directed Graphs
Reza Babazadeh, Rastko R. Šelmić · 2022 American Control Conference (ACC) · 2022
This paper presents a distance-based formation control of nonlinear agents on a plane. Due to mathematical complexity, the distance-based formation is mainly studied for linear single- and double-integrator models. Here, we introduce a novel control scheme for a distance-based control of a set of nonlinear agents. The formation topology is modeled as directed graphs where just one incident agent controls the corresponding edge (distance constraint). The proposed method is based on state-dependent Riccati equation (SDRE) theory, which can effectively be applied to nonlinear systems. The asymptotic stability of the formation is rigorously proven. Moreover, using the SDRE method and signed area constraints, the proposed controller guarantees collision avoidance and prevents flip ambiguity of the formation. Simulation results are presented that support theoretical results.