Stabilizing and Maneuvering Angle Rigid Multiagent Formations With Double-Integrator Agent Dynamics

On the General Consensus Protocol in Multiagent Networks with Double-Integrator Dynamics and Coupling Time Delay

and Applied Analysis 3 Lemma 2 (see [5]). Let L be the (nonsymmetric) Laplacian matrix associatedwith directed networkg.Then,L has a simple zero eigenvalue and its other eigenvalues have positive real parts if and only if g has a directed spanning tree. The characteristic equation for system (4) is det [ λIN −IN αI N + γLe −λτ λI N + βI N + ξLe −λτ] = det (λI N (λI N + βI N + ξLe −λτ ) + αI N +...

Rigid formation control of double-integrator systems

Robustness issues in double-integrator undirected rigid formation systems

In this paper we consider rigid formation control systems modelled by double integrators (including formation stabilization systems and flocking control systems), with a focus on their robustness property in the presence of distance mismatch. By introducing additional state variables we show the augmented double-integrator distance error system is self-contained, and we prove the exponential st...

Consensus for Agents with Double Integrator Dynamics in Heterogeneous Networks

This paper studies the convergence properties of consensus algorithms for agents with double integrator dynamics communicating over networks modelled by undirected graphs. The positions and velocities of the agents are shared along heterogeneous, i.e. different, undirected communication networks. The main result is that consensus can be achieved, even though the networks along which position an...

Decentralized Motion Control of Multiple Agents with Double Integrator Dynamics

The decentralized navigation function methodology, established in previous work for navigation of a multi-agent system with single integrator dynamics is extended to the case of double integrator. The main motivation of this work lies in the fact that acceleration control is more implementable in multiple vehicle systems than velocity control. Each agent plans its actions without knowing the de...