A finite-time convergence of acyclic generically persistent formation in 3-D using relative position measurements

This paper studies formation control problem of multi-agent system whose interaction graph is acyclic generically persistent. We design a distributed control law for each agent to maintain its inter-agent distance constraints toward its neighbours. The designed control law uses only local relative position measurements and is proved to guarantee successfully for the convergences of agents to their desired equilibria in finite time, at which the formation of overall group of agents is congruent with a given desired one.