2Single‐Integrator Model

This chapter will set the foundation for the formation control designs presented in the book. We use here a very simple model for the motion of the agents known as the single‐integrator model, which only includes two variables: position and velocity. This is a simplified kinematic model for omnidirectional robots (e.g., mobile robots with Swedish wheels 41). Specifically, we consider a system of images agents governed by the first‐order differential equation

(2.1)equation

where images is the position and images is the velocity‐level control input of the imagesth agent with respect to an Earth‐fixed coordinate frame. The name “single integrator” originates from the fact that the transfer function matrix of (2.1) is

(2.2)equation

where images is the Laplace variable, i.e., the inputs and outputs are separated by ...

Get Formation Control of Multi-Agent Systems now with the O’Reilly learning platform.

O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.