Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System
Systems and Control
2022-02-22 v1 Systems and Control
Abstract
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator Newton's method is developed to find a solution by the minimization of a cost functional able to capture all these different tasks. To stabilize the formation, a particular potential function has been designed, allowing to obtain specified geometrical configurations while the barycenter position and velocity of the system follows a desired trajectory.
Cite
@article{arxiv.2202.10196,
title = {Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System},
author = {Marco Fabris and Angelo Cenedese and John Hauser},
journal= {arXiv preprint arXiv:2202.10196},
year = {2022}
}
Comments
7 pages, 5 figures, 1 table, extension of the manuscript presented at the 2019 European Control Conference