Adaptive Formation Control and Target Tracking in a Class of Multi-Agent Systems: Formation Maneuvers

Gazi V. , Fidan B.

13th International Conference on Control, Automation and Systems (ICCAS), Gwangju, South Korea, 20 - 23 October 2013, pp.78-85 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/iccas.2013.6703867
  • City: Gwangju
  • Country: South Korea
  • Page Numbers: pp.78-85
  • Keywords: Formation control, formation maneuvers, multi-agent dynamic systems, fuzzy systems, high-gain observer, ARTIFICIAL POTENTIALS, NONLINEAR-SYSTEMS, COORDINATION, FEEDBACK
  • Yıldız Technical University Affiliated: No


In this article we develop a direct adaptive fuzzy control based methodology for formation control and target tracking in a class of multi-agent systems with nonlinear and uncertain dynamics. The agents are assumed to be able to measure only their relative position to the other agents and the target and high gain observers are applied to estimate the derivatives of the combined tracking and formation errors. Various formation maneuvers such as contraction/expansion, rotation, and reconfiguration of the formation are also considered. Bounding and sliding mode control terms are used to guarantee stability and robust performance. Simple numerical simulations are also provided to verify the effectiveness of the algorithm.