@inproceedings{ccf0bc8022104fedb8e9d1a4fca5b4d7,
title = "Practical Distance-Based Formation Stabilization and Tracking of Nonholonomic Multi-agent Systems",
abstract = "This paper investigates practical distance-based formation stabilization and tracking issues for nonholonomic multi-agent systems (MASs). Firstly, the agent{\textquoteright}s nonholonomic kinematics is represented as a left invariant system on a Lie group. Through the introduction of an auxiliary state and a virtual control guided by the transverse function method, the original system is effectively converted into a fully actuated one. Secondly, under the assumption of infinitesimal and minimal rigidity in the graph, a gradient-descent-based virtual controller is devised for the transformed MASs, facilitating practical rigid formation stabilization. Thirdly, a discontinuous distributed velocity estimator is designed for formation tracking. The nonholonomic MASs achieve the desired formation shape while effectively tracking the reference trajectory. Finally, the effectiveness of the proposed method is verified by numerical examples.",
keywords = "formation control, multi-agent systems, nonholonomic constraints",
author = "Xiangyu Tang and Jianglong Yu and Xiwang Dong and Xiangyu Yang and Zhang Ren",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023 ; Conference date: 24-11-2023 Through 27-11-2023",
year = "2024",
doi = "10.1007/978-981-97-3328-6\_35",
language = "英语",
isbn = "9789819733279",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "415--426",
editor = "Qing Wang and Xiwang Dong and Peng Song",
booktitle = "Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Control Technologies",
address = "德国",
}