On global convergence of area-constrained formations of hierarchical multi-agent systems

Toshiharu Sugie, Fei Tong, Brian D. O. Anderson, Zhiyong Sun

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This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution for this type of problems was given first for three or four agents by considering a potential function which consists of both the distance error and the signed area terms. Then, by exploiting a hierarchical control strategy with such potential functions, the method was extended to any number of agents recently. However, a specific gain on the signed area term must be employed there, and it does not guarantee the global convergence. To overcome this issue, this paper provides a necessary and sufficient condition for the global convergence, subject to the constraint that the desired formation consists of isosceles triangles only. This clarifies the admissible range of the gain on the signed area for this case. In addition, as for formations consisting of arbitrary triangles, it is shown when high gain on the signed area is admissible for global convergence.
Original languageEnglish
Article number2009.03048
Number of pages7
Publication statusPublished - 4 Sept 2020

Bibliographical note

Accepted in the 59th IEEE Conference on Decision and Control (CDC 2020). arXiv admin note: text overlap with arXiv:1808.00312


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