On distance-based formation control: A nonlinear mapping approach and its applications

Mehdifar F., Hashemzadeh F., Baradarannia M.

4th IEEE International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017, Tehran, Iran, 22 December 2017, vol.2018-January, pp.741-746 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 2018-January
  • Doi Number: 10.1109/kbei.2017.8324895
  • City: Tehran
  • Country: Iran
  • Page Numbers: pp.741-746
  • Keywords: Collision Avoidance, Connectivity Maintenance, Formation Control, Multi-Agent System, Nonlinear Mapping Technique, Rigid Graph
  • Istanbul Technical University Affiliated: No


This paper introduces a novel decentralized distance-based formation controller for multi-agent systems by imposing constraints on inter-agent distance errors. Using a Nonlinear Mapping Technique (NMT) for dealing with the distance errors constraints, the problems of connectivity maintenance and collision avoidance between neighboring agents are handled. Furthermore, the proposed control scheme increases formation robustness and prevents convergence of the formation to incorrect shapes when external effects such as disturbances exist. Using Lyapunov based analysis the results are proved for both single and double integrator agent models where the target formation is minimally and infinitesimally rigid in 2-D or 3-D space.