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Distance-Based Multiagent Formation Control With Energy Constraints Using SDRE
IEEE Transactions on Aerospace and Electronic Systems ( IF 2.797 ) Pub Date : 2019-04-11 , DOI: 10.1109/taes.2019.2910361
Reza Babazadeh; Rastko Selmic

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.
更新日期:2020-02-11

 

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