In this paper, finite time rigidity-based formation maneuvering control of single integrator multiagent systems is considered. The target formation graph is assumed to be minimally and infinitesimally rigid, and the desired group velocity is considered to be available only to a subset of the agents. A distributed nonsmooth velocity estimator is used for each agent to estimate the desired group velocity in finite time. Using Lyapunov and input to state stability notions, a finite time distance-based formation maneuvering controller is presented and it is proved that by using the controller, agents converge to the target formation and track the desired group velocity in finite time. Furthermore, it is demonstrated that the designed controller is implementable in local coordinate frames of the agents. Simulation results are provided to show the effectiveness of the proposed control scheme.

中文翻译：

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基于分布式有限时间速度估计器的多主体系统基于有限时间刚度的编队操纵

在本文中，考虑了基于有限时间刚度的单集成多主体系统的编队控制。假定目标编队图具有最小和无限严格的刚性，并且所需的组速度被认为仅可用于特工的一个子集。分布式非平稳速度估计器用于每个代理，以在有限时间内估计所需的组速度。利用李雅普诺夫和状态稳定输入，提出了一种基于有限时间距离的编队操纵控制器，并证明了通过使用该控制器，智能体可以收敛到目标编队并在有限的时间内跟踪所需的群速度。此外，证明了所设计的控制器可在代理的局部坐标系中实现。