A Unified Approach for Finite-Time Global Stabilization of Affine, Rigid, and Translational Formation

This article studies the multiagent control problem for affine, rigid, and translational formation, with aim of developing a unified distributed strategy global finite-time convergence. Global stabilization rigid formation in arbitrary dimensional spaces still remains open challenging. provides general solution to this based on sliding mode idea. The law design consists two parts: main force regulates trajectories all agents reach surface defined by an affine space finite time remain it thereafter; extra governs certain chosen leader towards desired surface. then presents detail approaches designing force, one distance constraints other relative position constraints. For first time, proposed laws solve (almost) formations any space. Simulation results are provided illustrate effectiveness schemes.