Multilayer Formation Control of Multi-Agent Systems
Dongyu Li, Xiaomei Liu, Qinglei Hu, Shuzhi Sam Ge · 2024
This chapter first defines a multilayer formation control problem, where the agents can receive and transmit information among the layers. A layered distributed finite-time estimator is proposed for agents in each layer to obtain their target positions and velocities based on the information of agents in their prior layers. A model-based control law is then proposed to achieve multilayer formation, where the formation configurations can be constant or time-varying. This chapter also gives a clue on multilayer formation control design in the presence of practical issues, such as model uncertainties and loss of velocity measurements. Simulation results are given to show the effectiveness of the proposed approaches with a group of satellites in a time-varying formation case. The approaches in this chapter provide a new insight into the multi-agent formation problems with an arbitrary number of formation layers and flexible formation configurations, where the information flow among agents can also be explored and designed naturally.