Adaptive Rigidity-Based Formation Control for Multirobotic Vehicles With Dynamics

作者：Cai Xiaoyu^*; de Queiroz Marcio

来源：IEEE Transactions on Control Systems Technology, 2015, 23(1): 389-396.

DOI：10.1109/TCST.2014.2321664

• Adaptive control
• formation control
• Lyapunov theory
• multiple robotic vehicles
• rigid graph

In this brief, we introduce a graph rigidity-based, adaptive formation control law for multiple robotic vehicles moving on the plane that explicitly accounts for the vehicle dynamics while allowing for parametric uncertainty. We consider a class of vehicles modeled by Euler-Lagrange-like equations of motion. The control is designed via backstepping, and exploits rigid graph theory and the structural properties of the system dynamics. A Lyapunov analysis shows that the desired formation is acquired asymptotically. A five-vehicle simulation is used to illustrate the proposed formation acquisition control.

• 出版日期2015-1