A Distributed Formation Control Algorithm and Stability Analysis
一类分布式队形控制及其稳定性分析

This paper investigates a discrete coordination control algorithm of vehicle formations,and analyzes the algorithm's stability and convergence using techniques from graph theoretic methods and matrix theory.A sufficient and necessary condition for asymptotic stability of the system studied is proved,and the value-taking region of feedback control parameters is obtained.We also prove the convergence of vehicles moving to a desired formation and a common velocity under the above sufficient-necessary condition.A six-vehicle formation coordination control example is shown in simulation to verify our theoretical result.