Formation Control of a Multi-Agent System Using Decentralized Nonlinear Servomechanism

Gazi V.

42nd IEEE Conference on Decision and Control, Maui, HI, United States Of America, 9 - 12 December 2003, vol.3, pp.2531-2536 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 3
  • City: Maui, HI
  • Country: United States Of America
  • Page Numbers: pp.2531-2536
  • Yıldız Technical University Affiliated: Yes


In this article we consider the formation control problem of a system of M agents with general nonlinear dynamics. We show that the problem of the agents moving in a formation along constant or periodic trajectories can be formulated as a nonlinear output regulation (servomechanism) problem and solved using known techniques. Then, we consider the example of formation control of agents with point mass dynamics and apply the procedure. Few illustrative numerical simulation examples are also provided.