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.
Distance-Based Multiagent Formation Control With Energy Constraints Using SDRE
IEEE Transactions on Aerospace and Electronic Systems ; 56 , 1 ; 41-56
2020-02-01
3073747 byte
Article (Journal)
Electronic Resource
English
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