Yang Xu1, Shiyu Zhao, Delin Luo2, Yancheng You2
11:00 - 11:20 | Mon 17 Dec | Splash 3-4 | MoA14.4
The affine formation maneuver control problem of leader-follower linear multi-agent systems with undirected interaction graphs is studied in this paper. First, this paper provides and proves the sufficient and necessary conditions for affine localizability. If given a d-dimensional nominal formation with no fewer than d+1 leaders and generic universal rigidity,then any formation shape satisfying affine transformation can be obtained in arbitrary dimension only by these leaders. In the sequel, a novel distributed control method for the followers with linear dynamic models is designed to achieve the desired time-varying maneuvers, and the global stability is proved.Simulations are carried out to verify the theoretical results,which show that these followers can track the time-varying references continuously and accurately.