Layered Affine Formation Control of Networked Uncertain Systems: A Fully Distributed Approach Over Directed Graphs

Distributed formation control is presented for networked Euler–Lagrange systems (ELSs) over a directed interaction topology. This problem is defined by a layered framework in which information flow both among the leaders and among the followers is described by different layers. To empower the formation to make a variety of geometric transformations, we present the necessary and sufficient conditio...