标题： 用于二阶智能体编队-运动控制的智能体间距离不匹配调控 显示英文标题

标题： Taming mismatches in inter-agent distances for the formation-motion control of second-order agents

摘要： 本文介绍了对距离不匹配对二阶智能体基于梯度的标准刚性编队控制影响的分析。 结果显示，类似于最近文献中讨论的一阶情况，这些不匹配会引入两种不期望的群体行为：变形的最终形状和群体编队的稳态运动。 我们表明，通过将标准编队控制律与分布式估计器结合，可以消除这些不期望的行为。 最后，我们展示了如何有效地将不匹配作为设计参数，以控制编队的平移和旋转运动的组合。 显示英文摘要

摘要： This paper presents the analysis on the influence of distance mismatches on the standard gradient-based rigid formation control for second-order agents. It is shown that, similar to the first-order case as recently discussed in the literature, these mismatches introduce two undesired group behaviors: a distorted final shape and a steady-state motion of the group formation. We show that such undesired behaviors can be eliminated by combining the standard formation control law with distributed estimators. Finally, we show how the mismatches can be effectively employed as design parameters in order to control a combined translational and rotational motion of the formation.