Distributed Formation Control of Multi-Agent via Abstraction
2021
This paper presents a new distributed formation control method based on abstraction for nonlinear uncertain agents. Based on a modified concept of approximate abstraction, each agent is first abstracted as a first-order integrator by designing an interface system. Then, the distributed formation controller is designed for first-order integrators and proved to be feasible. Simulation result illustrates the effectiveness of the proposed design.
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