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Consensus-Based Distributive Formation Control

  • Overview    

    • During the investigation of the cooperative control problem of making target-centric formation by multiple unmanned aerial vehicles (UAVs), we developed a distributed controller that not only makes a desired formation around a target but also maintains the network connectivity over time. The controller is designed to pull in distant agents towards an entire multi-agent network during the dynamics. The effect of changing controller gains on formation dynamics are also studied, and the required bounds on the control gains are developed based on inter-agent dynamics. The designed controller provides a sufficient condition to maintain the dynamic network connectivity over time. Connectivity tracing problem is also investigated while preserving a formation by using time-varying controller gains.


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