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.


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    Titel :

    Distance-Based Multiagent Formation Control With Energy Constraints Using SDRE


    Beteiligte:
    Babazadeh, Reza (Autor:in) / Selmic, Rastko (Autor:in)


    Erscheinungsdatum :

    2020-02-01


    Format / Umfang :

    3073747 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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