文件名称：Distributed formation control for a cooperative multi-agent system
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更新时间：2016-05-09 03:53:46
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In this paper, the foramtion control and communication optimization problem for a multi-agent system is considered. In classical potential function method, it is common to specify the desired separation distance a prior and then design the cooperative control algorithm to maintain the desired formation. Hower, considering the realistic communication environments, the off-line formation approach may not be suitable. Since the communication quality will change dynamically with the different environments, an off-line given separation distance may not always assure the effective communication quality. In this paper, an online formation control scheme is proposed, integrating potential functions and extremum seeking. Extremum seeking is used to optimize the communication performance of the environment and obtain a desired sepation dynamically, and potential function is used to maintain the real-time desired separation and form a formation.