We propose a top-down approach for formation control of heterogeneous multiagent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a state feedback control that assigns desired closed-loop eigenvalues/eigenvectors. We characterize the relation between the eigenvalues/eigenvectors and the resulting interagent communication topology, and design special (sparse) topologies such that the synthesized control may be implemented locally by the individual agents. Moreover, we present a hierarchical synthesis procedure that significantly improves computational efficiency. Finally, we extend the proposed approach to achieve fixed-size formation and circular motion, and illustrate these results by simulation examples.

中文翻译：

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自上而下的多Agent编队控制综合：基于特征结构分配的方法

我们基于特征结构分配方法，提出了一种自顶向下的方法，用于异构多​​智能体系统的编队控制。给定在平面上实现可扩展编队的问题，我们的方法将全局计算状态反馈控件，该控件分配所需的闭环特征值/特征向量。我们表征了特征值/特征向量与生成的代理间通信拓扑之间的关系，并设计了特殊的（稀疏）拓扑，以便可以通过单个代理在本地实现综合控制。此外，我们提出了一种层次综合程序，可以显着提高计算效率。最后，我们将提出的方法扩展为实现固定大小的形成和圆周运动，并通过仿真示例说明了这些结果。