Preview-based discrete-time dynamic formation control over directed networks via matrix-valued Laplacian

• Main Authors: Cao, Kun, Li, Xiuxian, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering; Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; Formation Control; Preview Control
• Online Access: https://hdl.handle.net/10356/146158
• Institution: Nanyang Technological University

This paper studies the dynamic formation control problem for cooperative agents with discrete-time dynamics over directed graphs. Unlike using absolute coordinate, relative coordinate, interagent distance, or interagent bearing to specify the target formation and coordinate agents to achieve the for...