Similar Formation Control of Multi-Agent Systems over Directed Acyclic Graphs via Matrix-Weighted Laplacian
Systems and Control
2025-06-17 v1 Systems and Control
Abstract
This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation, rotation, and scaling can be characterized by the null space of the matrix-weighted Laplacian associated with the topological graph. The main contribution of this brief is to extend the similar formation problem of undirected graphs to directed acyclic graphs and provide the necessary algebraic criteria for leader selection. Stability analysis, illustrative examples, and simulation results are provided.
Keywords
Cite
@article{arxiv.2506.12297,
title = {Similar Formation Control of Multi-Agent Systems over Directed Acyclic Graphs via Matrix-Weighted Laplacian},
author = {Zhipeng Fan and Yujie Xu and Mingyu Fu and Han Sun and Weiqiu Zhang and Heng Zhang},
journal= {arXiv preprint arXiv:2506.12297},
year = {2025}
}
Comments
6 pages, 5 figures, plan to submit to ISA transaction