Distributed Affine Formation Maneuver Control For Multi-agent Systems: Analysis, Design, And Verification

Abstract

This thesis investigates the problem of affine formation control using stress matrix-based affine transformations. The thesis extends the affine formation control schemes of linear multi-agent systems and verifies them on the MATLAB platform. The schemes aim to address the fully distributed affine formation problem in general linear cases, cases with system uncertainties, and cases with robust and adaptive strategies through communication and collaboration among agents. The theoretical feasibility of the schemes are demonstrated based on the Lyapunov stability method. In this thesis, four algorithms are explored and applied in two-dimensional and three-dimensional spaces. Various transformations such as rotation, scaling, shearing, and collinearity are achieved. Experimental results show that the algorithms can achieve the control objectives of affine formation. All agents can perform affine transformations based on changes in the leaders’ states, thereby verifying their feasibility and effectiveness in experiments. This thesis validates four schemes considering general linear systems, system uncertainties and fully distributed control, achieving good performance.