LAUSR

A rigid formation control problem of n agents described by double integrators is proposed in this paper. At the same time, the arbitrary switching topology with no dwell time between consecutive switches is considered. Then the nonsmooth analysis, the backstepping technique and the adaptive perturbation method are employed to design the globally stable rigid formation control strategy. The main result is that regardless of the topology switching, the global stabilization of the rigid formation, the convergence to a common velocity vector and the collision avoidance between communicating agents are still guaranteed as long as the graph topology remains rigid all the time. Simulations are given to demonstrate the effectiveness of the proposed control algorithm.