Similar Formation Control of Multi-Agent Systems over Directed Acyclic Graphs via Matrix-Weighted Laplacian
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912429872513024 |
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| author | Fan, Zhipeng Xu, Yujie Fu, Mingyu Sun, Han Zhang, Weiqiu Zhang, Heng |
| author_facet | Fan, Zhipeng Xu, Yujie Fu, Mingyu Sun, Han Zhang, Weiqiu Zhang, Heng |
| contents | This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation, rotation, and scaling can be characterized by the null space of the matrix-weighted Laplacian associated with the topological graph. The main contribution of this brief is to extend the similar formation problem of undirected graphs to directed acyclic graphs and provide the necessary algebraic criteria for leader selection. Stability analysis, illustrative examples, and simulation results are provided. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_12297 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Similar Formation Control of Multi-Agent Systems over Directed Acyclic Graphs via Matrix-Weighted Laplacian Fan, Zhipeng Xu, Yujie Fu, Mingyu Sun, Han Zhang, Weiqiu Zhang, Heng Systems and Control 93-02 G.0 This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation, rotation, and scaling can be characterized by the null space of the matrix-weighted Laplacian associated with the topological graph. The main contribution of this brief is to extend the similar formation problem of undirected graphs to directed acyclic graphs and provide the necessary algebraic criteria for leader selection. Stability analysis, illustrative examples, and simulation results are provided. |
| title | Similar Formation Control of Multi-Agent Systems over Directed Acyclic Graphs via Matrix-Weighted Laplacian |
| topic | Systems and Control 93-02 G.0 |
| url | https://arxiv.org/abs/2506.12297 |