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Register a new userDistributed Formation Control of Multi-Robot Systems: A Fixed-Time Behavioral Approach
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This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is proposed to tackle the problem, where a global formation task is divided into two local prioritized subtasks, and each of them leads to a desired velocity that can achieve the individual task in a fixed time. Then, two desired velocities are combined via the framework of the null-space-based behavioral projection, leading to a desired merged velocity that guarantees the fixed-time convergence of task errors. Finally, the effectiveness of the proposed control method is demonstrated by simulation results.
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In this paper, we extend the results from Jiao et al. (2019) on distributed linear quadratic control for leaderless multi-agent systems to the case of distributed linear quadratic tracking control for leader-follower multi-agent systems. Given one autonomous leader and a number of homogeneous followers, we introduce an associated global quadratic cost functional. We assume that the leader shares its state information with at least one of the followers and the communication between the followers is represented by a connected simple undirected graph. Our objective is to design distributed control laws such that the controlled network reaches tracking consensus and, moreover, the associated cost is smaller than a given tolerance for all initial states bounded in norm by a given radius. We establish a centralized design method for computing such suboptimal control laws, involving the solution of a single Riccati inequality of dimension equal to the dimension of the local agent dynamics, and the smallest and the largest eigenvalue of a given positive definite matrix involving the underlying graph. The proposed design method is illustrated by a simulation example.
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