Takatoshi Motoyama, Kai Cai
We propose a top-down approach for formation control of heterogeneous multi-agent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a state feedback control that assigns desired closed-loop eigenvalues/eigenvectors. We characterize the relation between the eigenvalues/eigenvectors and the resulting inter-agent communication topology, and design special (sparse) topologies such that the synthesized control may be implemented locally by the individual agents. Moreover, we present a hierarchical synthesis procedure that significantly improves computational efficiency. Finally, we extend the proposed approach to achieve rigid formation and circular motion, and illustrate these results by simulation examples.