Fourier-Based Multi-Agent Formation Control to Track Evolving Closed Boundaries

• DOI: 10.36227/techrxiv.22316221.v1
• Publication Date: 2023-03-27T04:59:37Z
• Authors: Bin Zhang; Hui Zhi; Jose Guadalupe Ro...; Luiza Labazanova; Anqing Duan; Xiang Li; David Navarro-Ala...
• Keywords: Tracking (education)

<p>The automatic monitoring/tracking of environmental boundaries by multi-agent systems is a fundamental problem which has many practical applications. In this paper, we address with formation control techniques based on parametric curves that represent the boundary’s feedback shape. For that, approximate curve truncated Fourier series, whose finite coefficients are utilized to characterize curve’s shape and automatically distribute agents along it. These exploited design new type controller drives form desired curves. A detailed stability analysis provided for proposed methodology, considering both fixed switching topologies. The reported numerical simulation study demonstrates performance feasibility our method track closed different shapes.</p>