Adaptive distance-based formation control

This paper studies the distance-based formation control problem where agents in the system are modeled with single-integrators with parametric uncertainties. We propose to use adaptive control as the main tool to approach the problem. Under the assumption that only local displacements are available, an adaptive distance-based control law is proposed and analysed. If additionally, each agent can sense its local position, we propose using an additional observer to estimate the uncertain parameters and stabilize the desired formation. Simulation results are also given to support the theoretical results.