标题： 对二阶智能体刚性编队的形成-运动控制中相邻距离不匹配的抑制 显示英文标题

标题： Taming inter-distance mismatches in formation-motion control for rigid formations of second-order agents

摘要： 本文提出了对二阶智能体标准基于梯度的刚性编队控制中距离不匹配影响的分析。 结果显示，与近期文献中讨论的一阶情况类似，这些不匹配会导致两种不希望的群体行为：最终形状的扭曲和群体编队的稳态运动。 我们表明，通过将标准刚性编队控制律与分布式估计器结合，可以消除这些不希望的行为。 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 an analysis on the influence of distance mismatches in the standard gradient-based rigid formation control for second-order agents. It is shown that, akin to the first-order case as recently discussed in 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 rigid 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.