Leader-following formation control based on pursuit strategies

  • Authors:

  • Wei Ding;Gangfeng Yan;Zhiyun Lin;Ying Lan

  • Affiliations:

  • Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China;Department of Systems Science and Engineering, Zhejiang University, Hangzhou, P. R. China

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

The paper studies formation control of multi-agent systems under a directed acyclic graph. In a directed acyclic graph, the agents without neighbors are leaders and the others are followers. Leaders move in a formation with a time-varying velocity and followers can access the relative positions of their neighbors and the leaders' velocity. A local formation control law is proposed in the paper based on pursuit strategies and necessary and sufficient conditions for stability and convergence are derived. Moreover, the results are extended to the case with arbitrary communication delays, for which the steady-state formation is presented according both the control parameters and time delays.