What is it about?
This paper studies the formation control problem of heterogeneous multi-agent systems. We consider a heterogeneous multi-agent system with the first-order linear leaders and second-order nonlinear followers. A distributed formation control protocol is devised to make the system achieve formation control. Furthermore, using Lyapunov stability theory and linear matrix inequality method the stability analysis of the system is conducted, and the sufficient condition is presented for successful formation control in heterogeneous multi-agent systems. Finally, a numerical simulation example is provided to validate the obtained results.
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Why is it important?
Because in the actual application scenario, it is often complex and changeable, and this paper studies the formation control problem of heterogeneous multi-agent with nonlinearity, so this paper provides a certain idea for the research in this field.
Perspectives
This paper aims to demystify and invigorate the discourse around formation control by presenting a novel distributed protocol that bridges the gap between theoretical frameworks and practical applications. By leveraging Lyapunov stability theory and linear matrix inequality methods, we not only provide a robust mathematical foundation for our control protocol but also offer a clear, actionable roadmap for achieving stability in real-world scenarios.
Runxi Cao
Read the Original
This page is a summary of: Distributed Formation Control of Heterogeneous Multi-agent Systems with Nonlinear Dynamic Performance, June 2024, ACM (Association for Computing Machinery),
DOI: 10.1145/3674700.3674713.
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