Multi-agent formation maneuvering and target interception with double-integrator model

This paper introduces distance-based control laws for the multi-agent formation maneuvering and target interception problems using a double-integrator agent model and rigid graph theory. The proposed controls consist of a formation acquisition term, dependent on the graph rigidity matrix, and a formation maneuvering or target interception term. The control laws are only a function of the relative position/velocity of agents in an infinitesimally and minimally rigid graph, the agent´s own velocity, and either the desired velocity of the formation or the target´s relative position to the leader and velocity. The target interception control includes a variable structure-type term to compensate for the unknown target acceleration. A Lyapunov-based stability analysis is used to prove that the control objectives are met.