An Affine-Based Maneuver Control Method for Multi-Agent Cooperative Transportation System Over Switching Formations

This paper addresses the maneuver control prob-lem for the multi-agent cooperative transportation systems (MACTSs) with double-integrator dynamics over switching formations. The switching formations consist of a pair of operations: one is the switching directed graphs and the other is the corresponding formation configurations. In real cooperative transportation scenarios, varying interaction re-lationships necessitate distinct system configurations. But it is challenging for researchers to design control law with the evolutions of not only the communication topology but also the system configuration. Drawing inspiration from advancements on switching topologies, we utilize the characteristics of the stress matrix to build up a new LMI inequality to design a novel class of distributed affine-based controller. The global convergence will be achieved as long as the feedback gain matrix and the switching signal satisfy three specific conditions. And we give the corresponding algorithm to calculate the required control parameters. A Lyapunov function is constructed to demonstrate the system's stability and simulation example is provided in detail at the end of this paper to validate our method's efficacy.