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Circle formation control for multi-agent systems with a leader

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Abstract

In this paper, we focus on circle formation control of multi-agent systems (MAS) with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed control law is given to make a group of agents form a circle and consequently achieve an expected angle. Finally, simulation results show that the proposed circle formation strategies are effective.

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Authors and Affiliations

  1. College of Information Science and Engineering, Northeastern University, Shenyang Liaoning, 110819, China

    Lianjie Zhao & Dan Ma

  2. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang Liaoning, 110819, China

    Lianjie Zhao & Dan Ma

Authors
  1. Lianjie Zhao
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  2. Dan Ma
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Corresponding author

Correspondence to Dan Ma.

Additional information

This work was supported by the National Natural Science Foundation of China (No. 61233002) and the Fundamental Research Funds for the Central Universities (No. N120404019).

Lianjie ZHAO received his B.Sc. degree in Information and Computing Sciences from Ludong University, Yantai, China, in 2013. Currently, he is pursing his M.Sc. degree with Navigation, Guidance and Control in Northeastern University, Shenyang, China. His research interests include formation control and cooperative control.

Dan MA received the Ph.D. degree in Control Theory and Control Engineering from the Northeastern University, China, in 2007. From 2008 to 2010, she was a postdoctoral fellow at the Northeastern University, China, where she is with School of Information Science and Engineering, and is currently an associate professor. From March 2012 to September 2012, she was a guest professor at the Department of Electrical Engineering, University of Notre Dame. Her current research interests include formation control for multi-agent systems, network-based control systems and hybrid dynamical systems.

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Zhao, L., Ma, D. Circle formation control for multi-agent systems with a leader. Control Theory Technol. 13, 82–88 (2015). https://doi.org/10.1007/s11768-015-4092-8

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  • DOI: https://doi.org/10.1007/s11768-015-4092-8

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