Full-State Feedback Control Design for Shape Formation using Linear Quadratic Regulator

Muhamad Rausyan Fikri (Information Systems, Faculty of Engineering and Technology, Sampoerna University)
Djati Wibowo Djamari (Mechanical Engineering, Faculty of Engineering and Technology, Sampoerna University)

Indonesian Journal of Computing, Engineering, and Design
Vol. 2 No. 2 (2020): IJoCED

This study investigated the capability of a group of agents to form a desired shape formation by designing the feedback control using a linear quadratic regulator. In real application, the state condition of agents may change due to some particular problems such as a slow input response. In order to compensate for the problem that affects agent-to-agent coordination, a robust regulator was implemented into the formation algorithm. In this study, a linear quadratic regulator as the full-state feedback of robust regulator method for shape formation was considered. The result showed that a group of agents can form the desired shape (square) formation with a modification of the trajectory shape of each agent. The results were validated through numerical experiments.