Non-linear multi-agent systems control: A closed-form solution
Rodolfo Pietrasanta, Lydie Nouvelière, Mohammed Chadli · IFAC-PapersOnLine · 2024
In this paper, we employ a backstepping approach to address the multi-agent flocking/consensus problem. We present a general procedure for coordinating a group of agents, which may exhibit non-linear and heterogeneous behaviors. Additionally, we derive closed-form expressions for the control inputs, accommodating systems with relative degrees up to 4. We also introduce a method to incorporate reference tracking into the framework. The validity of our proposed approach is demonstrated through simulation results.