An Optimal Displacement-Based Leader-Follower Formation Control for Multi-Agent Systems With Energy Consumption Constraints

In this paper, we propose an optimal control method for a displacement-based leader-follower formation control of multi-agent systems with energy consumption constraints. We developed a model for electric energy consumption of an agent and then formulate the formation control problem for a set of multi-agents in optimal control context. The proposed method minimizes a weighted cost function that includes formation and energy consumption for a given mission. To solve the formulated problem, we use State-Dependent Riccati Equation (SDRE) method. We choose the weighting matrices of the cost function to be dependent on the energy level of the agents, thus allowing for autonomous adjustment of the agents' trajectories that preserve the integrity of the overall formation in spite of energy levels. Simulation results illustrate the effectiveness of the proposed method in both two-and three-dimensional spaces.