A Graph Laplacian Approach to Coordinate-Free Formation Stabilization for Directed Networks

作者：Lin, Zhiyun^*; Wang, Lili^*; Han, Zhimin; Fu, Minyue

来源：IEEE Transactions on Automatic Control, 2016, 61(5): 1269-1280.

DOI：10.1109/TAC.2015.2454711

• Directed graph
• distributed control
• formation
• multi-agent systems

This paper concentrates on coordinate-free formation control for directed networks, for which the dynamic motion of each agent is assumed to be governed only by a local control. We develop a graph Laplacian approach to solve the global and exponential formation stablization problem using merely relative position measurements between neighbors. First, to capture the sensing and control architectures that are needed to maintain the shape of a formation, a necessary and sufficient topological condition is proposed. Second, a Laplacian-based control law is developed for the stablization problem of a group of mobile agents to a desired formation shape under both fixed and switching topologies due to temporal node failures. Simulation results are provided to demonstrate that our Laplacian-based formation control strategy is inherently fault-tolerant and robust to node failures.

• 出版日期2016-5
• 单位浙江大学; 工业控制技术国家重点实验室