|Formation Tracking Control for Multi-agent Systems: A Wave-equation based Approach
Shu-Xia Tang, Jie Qi*, and Jing Zhang
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2704-2713, 2017
Abstract : "This paper considers the formation tracking control problem of large-scaled Multi-Agent Systems (MAS)
for which the model is based on a system of mutually independent wave Partial Differential Equations (PDEs). The
spatial derivatives in the equation correspond to the underlying communication topology of the agents. A leaderfollower
mode is employed in the control algorithm, with which the agents on the boundary of PDEs are chosen
as leaders knowing the tracking trajectory and all the other agents are followers. Each follower has only the information
of its own relative position and velocity to its topological neighbors. With a designed distributed controller,
the formation tracking error is bounded by a constant proportional to the acceleration of the desired trajectory.
Robustness of the control law to a perturbation in the velocity measurement is also discussed. Furthermore, some
simulation studies are provided to show the effectiveness of the control algorithm."
Distributed control, formation tracking, MAS, robustness, wave PDE.