Connectivity-Preserving Formation Tracking of Multiple Double-Integrator Systems
Zini Pan, Ben M. Chen · 2022 IEEE 61st Conference on Decision and Control (CDC) · 2022
In this paper, we study the distributed formation tracking problem of multiple double-integrator systems with connectivity preservation over a state-dependent communication network. In particular, we modify the existing potential function to accommodate offsets between the leader and the vehicles and design a potential-function-based distributed control law that can achieve formation tracking while preserving the connectivity of the communication network. Compared with the existing results, our result does not rely on the knowledge of the bound of the initial condition of the closed-loop system.