2024/01/10 by Okechi Onuoha, Suleiman Kurawa, Onuoha, Okechi +5
Computer Science · Mathematics · #Affine transformation #Artificial intelligence #Computer science #Constant (computer programming) #Control (management) #Control theory (sociology) #Discrete time and continuous time #Distributed Control Multi-Agent Systems #Geometry #Mathematics #Matrix (chemical analysis) #Multi-agent system #Neural Networks Stability and Synchronization #Nonlinear Dynamics and Pattern Formation #Set (abstract data type) #Stability (learning theory)
paper · pdf · doi:10.48550/arxiv.2401.05083
published in arXiv (Cornell University) (Cornell University)
openalex publication_date 2024/01/10 · openalex created_date 2024/01/13 · openalex updated_date 2026/07/28
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim is to drive a set of agents comprising leaders and followers to form any desired geometric pattern and simultaneously execute any required manoeuvre by controlling only a few agents denoted as leaders. Existing works in literature are mostly limited to the cases where the agents' inter-agent communications are either in the continuous-time settings or the sampled-data cases where the leaders are constrained to constant (or zero) velocities or accelerations. Here, we relax these constraints and study the discrete-time cases where the leaders can have stationary or time-varying velocities. We propose control laws in the study of different situations and provide some sufficient conditions to guarantee the overall system stability. Simulation study is used to demonstrate the efficacy of our proposed control laws.