Bearing-Based Formation Control Simultaneously Involving Several Heterogeneous Multi-Agent Systems with Nonlinear Uncertainties
Yujie Wang, Shuai Liu · 2023
For a large-scale multi-agent system consisting of agents that have different types of dynamics, employing bearing rigidity theory to handle formation problems is unrealistic since the bearing-based rigid graph is extremely complicated and heterogeneous agents are hard to analyze as a whole. Therefore, we inventively propose to separate the large-scale system into smaller subsystems, and each subsystem is generated by agents which share the same dynamics. In such sense, formation control turns to focus on several systems with milder conditions rather than a system with complex analysis. The control objectives are to drive all systems to acquire the desired formation shapes, and make all systems simultaneously maneuver along with the desired velocities and maintain the formation shapes. To reduce communication cost, the leader-follower strategy is applied. To make formation control suitable for general environments, nonlinear uncertainties are considered, and the desired maneuvering velocities are time-varying. Adaptive nonsmooth distributed controllers are appropriately designed for all agents.