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Affine Formation Maneuver for Multi-agent Systems with Different Convergence Rates
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  • Danfu Liu,
  • Lijun Zhu,
  • Hai-Tao Zhang,
  • Zhiyun Lin
Danfu Liu
Huazhong University of Science and Technology
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Lijun Zhu
Huazhong University of Science and Technology

Corresponding Author:[email protected]

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Hai-Tao Zhang
Huazhong University of Science and Technology
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Zhiyun Lin
Southern University of Science and Technology
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Abstract

In this paper, we investigate affine formation control problem for a class of multi-agent systems (MASs) where the formation information is only accessible to a small group of agents. We propose a class of generic formation maneuver (GFM) functions and unified analysis method to study different convergence properties including finite-time, fixed-time and predefined-time strategy. We first propose a consensus-based formation control of leaders and then a stress-matrix-based formation control for followers. Different GFM functions are specified for finite-time, fixed-time and predefined-time formation control of leader and follower groups, respectively. Finally, a number of simulation examples are provided to prove the effectiveness of the proposed algorithm.
Submitted to International Journal of Robust and Nonlinear Control
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26 Jun 2024Review(s) Completed, Editorial Evaluation Pending