Three-dimensional coordinated path-following control for second-order multi-agent networks

Zongyu Zuo, Venanzio Cichella, Ming Xu, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-review


In this paper we address the problem of coordinating a group of multi-agent under directed information flow along a three-dimensional reference path with spatial but without temporal constraints. Control laws are derived that enable each vehicle involved in the cooperative mission to follow a three-dimensional (3D) spatial path while coordinating. The spatial reference path is described by an algebraic implicit expression and the path-following kinematic-error dynamics are then formulated for each agent using suitably defined spatial and speed tracking error variable. Distinct from the stabilizing feedback control design of the path-following problem for a single agent, the proposed feedback control algorithm, augmented with local disagreement terms, achieves consensus path-following. Further, the desired speed profiles assigned to the agents are employed as extra design degrees of freedom to achieve coordination, based on a chasing-and-waiting strategy. Within the proposed design framework, the multi-agent systems follow the spatial path with negotiated speed profiles and ultimately coordinate with each other.

Original languageEnglish (US)
Pages (from-to)3858-3872
Number of pages15
JournalJournal of the Franklin Institute
Issue number9
StatePublished - Sep 1 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications
  • Applied Mathematics


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