Fourier-Based Multi-Agent Formation Control to Track Evolving Closed Boundaries

Bin Zhang, Hui Zhi, Jose Guadalupe Romero, Luiza Labazanova, Anqing Duan, Xiang Li, David Navarro-Alarcon

Research output: Journal article publicationJournal articleAcademic researchpeer-review

6 Citations (Scopus)

Abstract

The automatic monitoring/tracking of environmental boundaries by multi-agent systems is a fundamental problem that has many practical applications. In this paper, we address this problem with formation control techniques based on parame tric curves that represent the boundary's feedback shape. For that, we approximate the curve with truncated Fourier series, whose finite coefficients are utilized to characterize the curve's shape and to automatically distribute the agents along it. These feedback Fourier coefficients are exploited to design a new type of formation controller that drives the agents to form desired curves. A detailed stability analysis is provided for the proposed control methodology, considering both fixed and switching multi-agent topologies. The reported numerical simulation and experimental studies demonstrate the performance and feasibility of our new method to track closed boundaries of different shapes.

Original languageEnglish
Pages (from-to)4549-4559
Number of pages11
JournalIEEE Transactions on Circuits and Systems I: Regular Papers
Volume70
Issue number11
DOIs
Publication statusPublished - 1 Nov 2023

Keywords

  • Formation control
  • formation control
  • Fourier series
  • Mathematical models
  • Multi-agent systems
  • robotics
  • Robots
  • sensor-based control
  • Shape
  • Task analysis
  • Topology
  • Transmission line matrix methods

ASJC Scopus subject areas

  • Hardware and Architecture
  • Electrical and Electronic Engineering

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