Decentralized Coordination Control for Formation Stability of Autonomous Robotic Systems

Formation stability of a group of autonomous robotic systems is considered in the paper. We design cooperative control scheme in the framework of Lyapunov theorem for general linear dynamic systems. Decentralized control laws are explicitly constructed for individual systems with inter-system communications. Simulations show asymptotically tracking of a time-varying trajectory with pre-designated formation for a group of dynamic agents