Top-Down Synthesis of Multi-Agent Formation Control: An Eigenstructure Assignment based Approach

Takatoshi Motoyama; Kai Cai

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arXiv · 1708.04851

Top-Down Synthesis of Multi-Agent Formation Control: An Eigenstructure Assignment based Approach

Takatoshi Motoyama·Kai Cai

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Abstract

We propose a top-down approach for formation control of heterogeneous multi-agent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a state feedback control that assigns desired closed-loop eigenvalues/eigenvectors. We characterize the relation between the eigenvalues/eigenvectors and the resulting inter-agent communication topology, and design special (sparse) topologies such that the synthesized control may be implemented locally by the individual agents. Moreover, we present a hierarchical synthesis procedure that significantly improves computational efficiency. Finally, we extend the proposed approach to achieve rigid formation and circular motion, and illustrate these results by simulation examples.

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Takatoshi Motoyama, Kai Cai. 2017-08-16. Top-Down Synthesis of Multi-Agent Formation Control: An Eigenstructure Assignment based Approach. https://arxiv.org/abs/1708.04851

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