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Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions

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  • Xuejing Lan
  • Wenbiao Xu
  • Yun-Shan Wei

Abstract

This paper considers the distributed 3-dimensional (3D) distance-based formation control of multiagent systems, where the agents are connected based on an acyclic minimally structural persistent (AMSP) graph. A parameter is designed according to the desired formation shape and is used to solve the problem that there are two formation shapes satisfying the same distance requirements. The unknown moving velocity of the leader agent is estimated adaptively by the followers requiring only the relative position measurements with respect to their local coordinate systems. In addition, the proposed formation controller provides a new way for the agent to leave the initial coplanar location. The 3D formation control law is globally asymptotically stable and has been demonstrated based on the Lyapunov theorem. Finally, two numerical simulations are presented to support the theoretical analysis.

Suggested Citation

  • Xuejing Lan & Wenbiao Xu & Yun-Shan Wei, 2018. "Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions," Complexity, Hindawi, vol. 2018, pages 1-9, September.
    • Handle: RePEc:hin:complx:1814653
    DOI: 10.1155/2018/1814653
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    Cited by:

    1. Zhengquan Yang & Qing Zhang & Zengqiang Chen, 2019. "Formation Control of Multi-Agent Systems with Region Constraint," Complexity, Hindawi, vol. 2019, pages 1-6, December.

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