Finite-Time Rigidity-Based Formation Maneuvering of Multiagent Systems Using Distributed Finite-Time Velocity Estimators

Mehdifar F., Hashemzadeh F., Baradarannia M., de Queiroz M.

IEEE Transactions on Cybernetics, vol.49, no.12, pp.4473-4484, 2019 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 49 Issue: 12
  • Publication Date: 2019
  • Doi Number: 10.1109/tcyb.2018.2876608
  • Journal Name: IEEE Transactions on Cybernetics
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.4473-4484
  • Keywords: Finite-time controller, finite-time velocity estimator, formation maneuvering, input to state stability (ISS), rigid graph
  • Istanbul Technical University Affiliated: No


In this paper, finite time rigidity-based formation maneuvering control of single integrator multiagent systems is considered. The target formation graph is assumed to be minimally and infinitesimally rigid, and the desired group velocity is considered to be available only to a subset of the agents. A distributed nonsmooth velocity estimator is used for each agent to estimate the desired group velocity in finite time. Using Lyapunov and input to state stability notions, a finite time distance-based formation maneuvering controller is presented and it is proved that by using the controller, agents converge to the target formation and track the desired group velocity in finite time. Furthermore, it is demonstrated that the designed controller is implementable in local coordinate frames of the agents. Simulation results are provided to show the effectiveness of the proposed control scheme.