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


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.


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How to Cite
FIKRI, Muhamad Rausyan; DJAMARI, Djati Wibowo. Full-State Feedback Control Design for Shape Formation using Linear Quadratic Regulator. Indonesian Journal of Computing, Engineering and Design (IJoCED), [S.l.], v. 2, n. 2, p. 83-90, oct. 2020. ISSN 2656-8179. Available at: <http://ojs.sampoernauniversity.ac.id/index.php/IJOCED/article/view/114>. Date accessed: 29 oct. 2020. doi: https://doi.org/10.35806/ijoced.v2i2.114.