Trajectory Tracking by Multi-Agent in Octagonal Formation using Conventional and Adaptive Control

摘要

Trajectory tracking by multi-agent in the octagonal formation using conventional and adaptive Control is proposed in this paper. To achieve synchronization of octagonal formation and tracing leaders trajectory, adaptive Proportional (P) controller and the adaptive controller is used. For rescue operation in military and agricultural field applications, it is necessary to analyze the behavior of agents information for various control inputs. The connectivity of agents information is maintained using neighborhood information, observer and navigational feedback control strategy. The use of P controller strategy results in lesser average position error and more settling time when compared to the adaptive controller. The adaptive tuning of P controller and adaptive controller plays an important role in analyzing the behavior of agents in the octagonal formation and to perform flocking along the leader's trajectory.