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.
Cooperative Formation Control of the Multi-Agent System
2024-07-31
459465 byte
Conference paper
Electronic Resource
English
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