Three Dimensional Dynamic Formation Control of Multi Agent Systems Using Rigid Graphs

Abstract

In this paper, we consider the problem of formation control of multiagent systems in threedimensional (3D) space, where the desired formation is dynamic. This is motivated by applications where the formation size and/or geometric shape needs to vary in time. Using a singleintegrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, interagent distance error dynamics and ensures tracking of the desired, 3D timevarying formation. Extensions to the formation maneuvering problem and doubleintegrator model are also discussed. The formation control is illustrated with a simulation of eight agents forming a dynamic cube.