An Adaptive and Bounded Controller for Formation Control of Multi-Agent Systems with Communication Break

Abstract

Aiming at maneuvering, input saturation, and communication interference in the controller design for formation control multi-agent systems, a novel nonlinear bounded controller is proposed. Based on coordinates transformation, reference information is processed, and nonlinear effects of maneuvering are analyzed. Then a nonlinear controller is established with graph theory, consensus algorithm, and Lyapunov method, which guarantee the stability of the controller. For input saturation avoidance, adaptive parameters are put forward with the Lyapunov function. Considering the communication breaks, various conditions of the sensing graph are discussed for stable formation control, and a dynamic programming regulator is proposed for unknown position reference needed for formation keeping. Comparison with the traditional consensus method is provided in numerical simulation to verify the stability and feasibility of the proposed strategy.

Keywords

• formation control
• input saturation
• Lyapunov function
• multi-agent systems