This article addresses the issue of formation control in leader-follower multi-agent systems (MASs), examining scenarios with directed and undirected network topologies. MAS comprises interconnected systems that collaborate to tackle complex challenges beyond the capabilities of a single-agent. Formation control serves as a mechanism within MAS to facilitate collaboration by altering the movements of individual agents and the arrangement of their relative positions. This paper introduces a state-feedback controller developed from protocols (local information) that depend on the neighbouring agents. The principles of Lyapunov stability and algebraic graph theory have provided adequate conditions to guarantee attaining and preserving the desired formation control in leader-follower MASs. Simulation examples with in-depth assessments have been presented to unveil the practicability of the applied cooperative control methodology.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative Formation Control of the Multi-Agent System


    Contributors:


    Publication date :

    2024-07-31


    Size :

    459465 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Adaptive Cooperative Control of the Multi-Agent System

    Anand, Amit / Guha, Dipayan / Purwar, Shubhi | IEEE | 2023


    Cooperative Control of Multi-agent System with Disturbance

    Tachibana, Y. / Mori, S. / Namerikawa, T. | British Library Online Contents | 2014


    Multi-agent attitude cooperative control system in complex environment

    GU MENGQI / LI QINGBO / SUN HONGBING et al. | European Patent Office | 2022

    Free access

    Cooperative guidance control design for multi-agent vehicles

    Yang, Kaiyuan / Ming, Chao / Yan, Suyu et al. | SPIE | 2024