An approach to formation maneuvers of multiple nonholonomic agents using passivity techniques

This paper studies the problem of formation maneuver of multiple nonholonomic agents. A dynamic feedback linearization method is used to transform each agent´s dynamic model into two chains of 3rd order integrator. Then a decentralized discontinuous formation control law with inter-agent damping injection is derived. Asymptotical stability of the overall system is proved by using Lyapunov method. The proposed algorithm is applied to a nonholonomic multi-vehicles formation maneuver simulation, which shows the effectiveness of our strategy.