On the Formation Control of Multiagent Systems Under Nearly Cyclic Pursuit

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


We consider the problem of formation control of multiple agents under the nearly cyclic pursuit strategy. A control law is designed under this strategy for n agents to rendezvous at a point and also form a specific formation, dictated by an extra agent, called beacon. We derive constraint on the gain in kcirculant matrix to make the system stable. Formation tracking for n agents is achieved by applying an exogenous input to the beacon. We prove that the agents in nearly cyclic interaction are controllable under the beacon. Simulations and analytical results demonstrate the effectiveness of the proposed method.



This research was supported in part by the University Research Grant, UBD/PNC2/2/RG/1(259).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Faculty of Science, The More Than One Robotics LaboratoryUniversity of Brunei DarussalamBruneiAsia

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