Velocity Limitation for Formation Moving Control of Multi-Agent Systems

Abstract

This paper deals with a formation control problem of multi-agent systems. We focus on formation moving control, which forms a formation pattern of multi-agents and guides them toward an operated direction according to an external signal. Assume that the number of the agents which can receive the external signal is limited. It is known that the formation cannot be perfectly achieved in this situation. Our stance is that if the formation error is small enough and the agents move toward an operated direction, formation moving control is successful. We derive the velocity limitation of the agents in the case that the maximum tolerable error of the formation is given. Moreover, we discuss what kind of network structure will gain good performance in the sense of the velocity limitation. Finally, numerical results demonstrate the validity of the proposed analyses.