Cooperative Distance-Based Leader-Following Formation Control Using SDRE for Multi-Agents with Energy Constraints

We present an optimal cooperative control method for a distance-based, leader-following formation control of multi-agent systems with energy constraints. In order to develop a distributed control algorithm, we introduce the normalized local rigidity matrix. We combine the graph rigidity theory and State-Dependent Riccati Equation (SDRE) method to develop a distance-based formation control scheme. The proposed method guarantees the local asymptotic stability of the system. Moreover, we offer a solution for the global asymptotic stability of the closed-loop system. Simulation results illustrate the effectiveness of the proposed method in two- and three-dimensional spaces.