In this talk we discuss a general problem of formation feasibility for multi-agent coordination control when individual agents have kinematics constraints modelled by affine nonlinear control systems with possible drift terms. All agents need to work cooperatively to maintain a global formation task described by edge constraints. For such multi-agent group, we assume that different agents may have totally different dynamics, which brings the problem of coordination control of networked heterogeneous systems.
Based on concepts of (affine) distribution and codistribution, we propose a unified framework and an algebraic condition to determine the existence of feasible motions under both kinematic constraints and formation constraints. The framework extends the work by P. Tabuada et. al on motion feasibility of drift-less systems. In the case that feasible motions exist, we propose a systematic procedure to obtain an equivalent dynamical system which generates all types of feasible motions. Examples involving coordination control of constant-speed agents are provided to demonstrate the application of this coordination control framework.
Zhiyong Sun received the B.E. degree from Nanjing Normal University, Nanjing, China, in 2009, and the M.E. degree from Xi’an Jiaotong University, Xi’an, China, in 2012, both in Electrical Engineering. He completed his Ph.D. (under the supervision of Prof. Brian Anderson) at The Australian National University (ANU), Canberra ACT, Australia in February 2017, while he is currently a Research Fellow at ANU. His research interests include graph rigidity theory, control of autonomous formations, cooperative control and multi-agent systems. He received the Australian Prime Minister’s Endeavor Postgraduate Award in 2013 from the Australian Government, and the Outstanding Oversea Student Award from the Chinese Government in 2016. He was a finalist of Best Student Paper (BSP) Award in the 54th IEEE Conference on Decision and Control (CDC 2015 at Osaka, Japan), a finalist of BSP Award in the 4th Australian Control Conference (AUCC 2014 at Canberra, Australia), and the winner of BSP Award in the 5th Australian Control Conference (AUCC 2015 at Gold Coast, Australia). He had been a visiting student/researcher of several universities, including Yale University (US), University of Wuerzburg (Germany), Kyoto University (Japan), Purdue University (US), Groningen University (The Netherlands), GIST (South Korea), etc