Affine Formation Control from Data
Different from existing works that require information of dynamic models, this paper investigates how to achieve distributed affine formation control without such information. First, a leader-follower framework is introduced, which forms the basis for a data-driven distributed protocol that enables followers to form a time-varying target formation. This method removes the necessity for followers to employ estimators to obtain information about the target formation. Second, by addressing both noise-free and noisy data scenarios, data-based stability criteria for multi-agent systems are developed, with the control gain matrices derived.
Authors
- Zepeng Ning (ORCID: https://orcid.org/0000-0002-2277-5144)
- Wenjian Cai (ORCID: https://orcid.org/0000-0003-3357-2120)
- Yifei Li (ORCID: https://orcid.org/0009-0004-0211-6047)
- Lihua Xie (ORCID: https://orcid.org/0000-0002-7137-4136)
- Xu Fang
Institutions
- Beijing Institute of Technology (CN)
- Qingdao University of Science and Technology (CN)
- Nanyang Technological University (SG)
- Dalian University of Technology (CN)
- Shandong University of Science and Technology (CN)
Publication Details
- Published
- 2025-06-30
- DOI
- https://doi.org/10.1109/icca65672.2025.11129741
- Primary Topic
- Reservoir Engineering and Simulation Methods
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Ministry of Higher Education and Scientific Research
- Fundamental Research Funds for the Central Universities