Abstract This paper proposes a distributed globally stable control strategy for a class of rigid formation systems. Specifically, the multiple equilibrium problem of distance-based formation control is solved for a class of rigid formation systems. Firstly, a scalable algorithm is given to check if the proposed rigid graph satisfies the specific structure and determine that each follower has only two neighbors to form a cascade interconnection. Secondly, according to the cascade structure induced by the given algorithm, the distributed perturbed gradient control law and the adaptive law are presented for the rigid formation system. Finally, the global convergence and stability properties are obtained using the cascade system stability theory and adaptive control theory. Simulations are provided to demonstrate the effectiveness of the globally asymptotically stable formation control strategy. 

/pdf/distributed-adaptive-global-stabilization-of-a-class-of-goud3qmr.pdf

Distributed Adaptive Global Stabilization of a Class of Rigid Formation Systems

https://link.springer.com/content/pdf/10.1007/s11071-022-07843-3.pdf

Correction to: Predefined-time robust control with formation constraints and saturated controls

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Correction to: Predefined-time robust control with formation constraints and saturated controls