Distributed Cooperative Formation Control for Multi-agent System based on Virtual Centre Strategy
Weizhen HeYuzhen ChengPeng PeiYuwen YuanShixuan Li
Abstract
Abstract In this study, a distributed cooperative formation consistency control strategy is investigated for multi-agent system (MAS) to achieve formation consensus. Firstly, the virtual-centre-based reference formation is presented. Then a distributed cooperative formation control law based on virtual-centre is developed for MAS to achieve formation consensus. Finally, the new control scheme is applied to MAS consisting of 5 UAVs and the resulting closed-loop MAS is stable. The effectiveness of the new cooperative control behavior strategy is verified by simulations.
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