A passivity approach in port-Hamiltonian form for formation control and velocity tracking

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This paper proposes a passivity approach in port-Hamiltonian (pH) form for multi-agent formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the velocity and the external feedback is to achieve formation stabilization. Since the dynamics of the controller are associated with the edges, the stability analysis is related to the kernel of the incidence matrix B of the underlying graph. For displacement-based formations, the approach is applicable not only to acyclic graphs, but also to cyclic graphs, in which case the columns of B are not linearly independent. For rigid formations, the passivity approach for distance and bearing formation is proposed. In addition, the relationship between infinitesimal rigidity and convergence of the desired formation is established. The proposed approach is verified by numerical simulations.

Original languageEnglish
Title of host publication2022 European Control Conference, ECC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783907144077
Publication statusPublished - 5-Aug-2022
Event2022 European Control Conference, ECC 2022 - London, United Kingdom
Duration: 12-Jul-202215-Jul-2022

Publication series

Name2022 European Control Conference, ECC 2022


Conference2022 European Control Conference, ECC 2022
Country/TerritoryUnited Kingdom

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