Distributed Control of Triangular Formation for Double-Integrator Modeled Agents

This paper presents a formation control law for a group of three double-integrator modeled agents. We suggest a control law based on the gradient control law of a potential function between each agent. A constant parameter is designed to make a non-oscillating trajectory for each agent around equilibrium point. LaSalleʹs invariant principle is applied to prove that triangular formations are globally asymptotically stable under the proposed control law. Finally, simulation results are given to demonstrate the effectiveness of the proposed algorithm.