%A Fikri, Muhamad Rausyan
%A Djamari, Djati Wibowo
%D 2020
%T Full-State Feedback Control Design for Shape Formation using Linear Quadratic Regulator
%K
%X 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.
%U http://ojs.sampoernauniversity.ac.id/index.php/IJOCED/article/view/114
%J Indonesian Journal of Computing, Engineering and Design (IJoCED)
%0 Journal Article
%R 10.35806/ijoced.v2i2.114
%P 83-90%V 2
%N 2
%@ 2656-8179
%8 2020-10-01