2020/08/18 by Ning Zhou, Zhou, Ning, Xiaodong Cheng +5
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #FOS: Mathematics #Guidance and Control Systems #Optimization and Control (math.OC)
paper · pdf · doi:10.48550/arxiv.2008.07842
openalex publication_date 2020/08/18 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is proposed to tackle the problem, where a global formation task is divided into two local prioritized subtasks, and each of them leads to a desired velocity that can achieve the individual task in a fixed time. Then, two desired velocities are combined via the framework of the null-space-based behavioral projection, leading to a desired merged velocity that guarantees the fixed-time convergence of task errors. Finally, the effectiveness of the proposed control method is demonstrated by simulation results.