PROJECT TITLE :

Two-Layered Framework for Distributed Multiagent Formation Following

ABSTRACT:

This brief addresses a distributed region formation following drawback for multiagent systems with the Euler–Lagrange dynamics. Within the region management technique, specific orders or positions of the agents don't seem to be needed, however the most downside is that a desired reference of the full group is preplanned and created offered to all or any agents. Here, we have a tendency to gift a two-layered framework to realize the distributed region formation following. In the first layer, we tend to develop a smooth estimator to estimate the world reference information. In the second layer, we propose a control methodology using the estimated desired reference to achieve region formation following in a very distributed manner. Unlike most existing strategies for distributed tracking, that suffer from discontinuity in the controller, our proposed methodology is continuous and therefore chattering free. A rigorous Lyapunov-based analysis is utilized to show the stability of the general system. It is shown that the steadiness of the general system can be ensured if the estimation error converges a minimum of exponentially. Finally, the experimental result is presented to illustrate the performance of the proposed methodology.