We propose a top-down approach for formation control of heterogeneousmulti-agent systems, based on the method of eigenstructure assignment. Giventhe problem of achieving scalable formations on the plane, our approachglobally computes a state feedback control that assigns desired closed-loopeigenvalues/eigenvectors. We characterize the relation between theeigenvalues/eigenvectors and the resulting inter-agent communication topology,and design special (sparse) topologies such that the synthesized control may beimplemented locally by the individual agents. Moreover, we present ahierarchical synthesis procedure that significantly improves computationalefficiency. Finally, we extend the proposed approach to achieve rigid formationand circular motion, and illustrate these results by simulation examples.
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