【摘 要】
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This paper presents a distributed planar leader-follower formation maneuver control strategy for multi-agent systems with different agent dynamic models.This method is based on the barycentric coordinate-based(BCB)control,which can be performed in the loc
【机 构】
：
School of Civil Aviation,Northwestern Polytechnical University,Xi’an 710072,China;School of Aerospac
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This paper presents a distributed planar leader-follower formation maneuver control strategy for multi-agent systems with different agent dynamic models.This method is based on the barycentric coordinate-based(BCB)control,which can be performed in the local coordinate frame of each agent with required local measurements.By exploring the properties of BCB Laplacians,a time-varying target formation can be BCB localizable by a sufficient number of leaders uniquely,and this formation is converted from a given nominal formation with geometrical similarity transformation.The proposed control laws can continuously maneuver collective single-and double-integrator agents to achieve a translation,scale,rotation,or even their compositions in various directions.For the formation shape control problem of multi-car systems with/without saturation constraints,the obtained control performance can preserve good robustness.Global stability is also proven by mathematical derivations and verified by numerical simulations.
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