A Negative Imaginary Theory-Based Time-Varying Group Formation Tracking Scheme for Multi-Robot Systems: Applications to Quadcopters
Yu-Hsiang Su,Parijat Bhowmick,Alexander Lanzon,Yu-Hsiang Su,Parijat Bhowmick,Alexander Lanzon
This paper proposes a new methodology to develop a time-varying group formation tracking scheme for a class of multi-agent systems (e.g. different types of multi-robot systems) utilising Negative Imaginary (NI) theory. It offers a two-loop control scheme in which the inner loop deploys an appropriate feedback linearising control law to transform the nonlinear dynamics of each agent into a double i...
