Control of 2D Minimally Persistent Formations with the Fault Tolerance of Three Co-Leaders in Cycle

Abstract

This paper mainly addresses a novel control law with rigidity matrix based on three co-leaders minimally persistent formations in the plane. This control law particularly considers the fault tolerance of the leaders, and in this way, the three co-leaders model is better than leader-first follower model, leader-remote follower model, etc. in persistent formation. Firstly, the first order kinematic model is adopted for every agent. Then the fundamental moving principal of the leaders and the followers are described in detail. On the basis of these principals, the control law with the rigidity matrix for the whole formation is proposed. Moreover, the stability analysis is also supplied. Finally, simulations show that the proposed controllers ensure the group formation stabilized to maintain the rigid shape, while the distances between the agents remain unchanged.