This paper presents the distributed formation control of a multi-agent system using graph theory with emphasis on consensus and cooperation issues. The focal point is to achieve and maintain a formation from any initial condition, with and without a leader that the entire formation must follow. Our analysis framework is based on tools from algebraic graph theory, matrix theory and control theor...

In this paper, we consider the leader-following consensus problem for multiple uncertain rigid spacecraft systems with the attitude being represented by unit quaternion. Existing results on this problem rely on the assumption that all parameters of the rigid spacecraft system are known exactly. By employing a nonlinear distributed observer for the leader system, we first convert the leader-foll...

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along desired orbits within finite time. It is assumed that topology for virtual leader followers directed. An additional condition so-called barrier function designed make all agents move limited area. A novel finite-time control law first based on backstepping. Then algorithm by...

The objective of this paper is to present formation control laws for maintaining the relative attitude between a formation of free ying spacecraft in deep space. The paper presents two control strategies based on leader-following and emergent behavior approaches. The leader-following control has appeared elsewhere and is included for completeness. The main contribution of this paper is a new em...

Lantibiotics are ribosomally synthesized peptide antibiotics composed of an N-terminal leader peptide that promotes the core peptide's interaction with the post translational modification (PTM) enzymes. Following PTMs, mutacin 1140 is transported out of the cell and the leader peptide is cleaved to yield the antibacterial peptide. Mutacin 1140 leader peptide is structurally unique compared to o...

In previous papers authors have considered agents as inertia-less self driven particles and designed a flocking algorithm. Application of this algorithm to agents with considerable inertial characteristics needs a behavioural controller. The controller uses the local information and helps every agent to imitate the desired behaviour as a member of the flocking frame which covers the main is...