We present an optimal control method for distance-based formation control of multiagent systems with energy constraints. We combine the rigid graph theory and state-dependent Riccati equation method to develop a multiagent formation control scheme. We defined a normalized rigidity matrix and use it for the rigorous stability analysis. The proposed method asymptotically minimizes weighted cost functional that includes formation and energy consumption costs. Furthermore, we propose a solution for the global asymptotic stability and collision avoidance. Simulation results illustrate the effectiveness of the proposed method in two- and three-dimensional spaces.

中文翻译：

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基于距离的多智能体编队控制与能量约束使用 SDRE

我们提出了一种基于距离的具有能量约束的多智能体系统的编队控制的最优控制方法。我们结合刚性图论和依赖状态的 Riccati 方程方法来开发多智能体编队控制方案。我们定义了归一化刚度矩阵并将其用于严格的稳定性分析。所提出的方法渐近地最小化包括形成和能源消耗成本的加权成本函数。此外，我们提出了全局渐近稳定性和碰撞避免的解决方案。仿真结果说明了该方法在二维和三维空间中的有效性。