Distributed Formation Control of Multi-Agent Systems Using Complex Laplacian

• Published in: IEEE transactions on automatic control Vol. 59; no. 7; pp. 1765 - 1777
• Main Authors: Lin, Zhiyun, Wang, Lili, Han, Zhimin, Fu, Minyue
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.07.2014; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Agents (artificial intelligence); Concentrates; Control systems; distributed control; Eigenvalues; Eigenvalues and eigenfunctions; Expert systems; formation; Formations; graph Laplacian; Laplace equations; Law; Linear control; Multi-agent systems; Nickel; Shape; Shape control; Specifications; Stability; Stability analysis; Vectors; Distributed control; multi-agent systems; formation; graph Laplacian; stability

The paper concentrates on the fundamental coordination problem that requires a network of agents to achieve a specific but arbitrary formation shape. A new technique based on complex Laplacian is introduced to address the problems of which formation shapes specified by inter-agent relative positions...