Formation Control of Second-Order Multi-Agent Systems By Graph Filtering

This paper extends the graph filtering method to the formation control of second-order multi-agent systems. By some model transformation, the formation control problem is convent to the consensus problem of the error system. And the idea of graph filtering is used to design the formation control algorithms. For the case of known graphs, the control sequence of the formation control algorithm is presented to solve the finite-time formation problem. For the case of unknown graphs, a 2-period control algorithm is proposed to achieve the expected formation asymptotically. Finally, numerical simulations are given to verify the efficiency of theoretical results.