Formation tracking control for multi-agent systems: A wave-equation based approach

  • Shu-Xia Tang
  • Jie QiEmail author
  • Jing Zhang
Regular Papers Control Theory and Applications


This paper considers the formation tracking control problem of large-scaled Multi-Agent Systems (MAS) for which the model is based on a system of mutually independent wave Partial Differential Equations (PDEs). The spatial derivatives in the equation correspond to the underlying communication topology of the agents. A leader-follower mode is employed in the control algorithm, with which the agents on the boundary of PDEs are chosen as leaders knowing the tracking trajectory and all the other agents are followers. Each follower has only the information of its own relative position and velocity to its topological neighbors. With a designed distributed controller, the formation tracking error is bounded by a constant proportional to the acceleration of the desired trajectory. Robustness of the control law to a perturbation in the velocity measurement is also discussed. Furthermore, some simulation studies are provided to show the effectiveness of the control algorithm.


Distributed control formation tracking MAS robustness wave PDE 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2017

Authors and Affiliations

  1. 1.Department of Mechanical & Aerospace EngineeringUniversity of CaliforniaSan Diego, La JollaUSA
  2. 2.College of Information Science and Technology and Engineering Research Center of Digitized Textile and Fashion Technology, Ministry of EducationDonghua UniversityShanghaiChina
  3. 3.College of Information Science and TechnologyDonghua UniversityShanghaiChina

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