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.
ASJC Scopus subject areas
- Control and Systems Engineering
- Signal Processing
- Computer Networks and Communications
- Applied Mathematics