Formation control of heterogeneous agents over directed graphs

摘要: This paper studies the formation control problem of a leader-follower heterogeneous network, for which some agents can freely fly in 3D space while others are confined 2D space. The sensing graph is assumed to be directed and onboard local coordinate systems associated with may not coincident each other. More specifically, have aligned z-axis but hold inconsistent x y axes due absence common sense about north. develops distributed law that solves network without relying on system. Moreover, it shown proposed guarantees global convergence towards any desired shape as long certain connectivity conditions hold. Simulation results provided validate our law.