Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Distributed Multi-task Formation Control under Parametric Communication
  Uncertainties   Formation control is a key problem in the coordination of multiple agents. It
arises new challenges to traditional formation control strategy when the
communication among agents is affected by uncertainties. This paper considers
the robust multi-task formation control problem of multiple non-point agents
whose communications are disturbed by uncertain parameters. The control
objectives include 1. achieving the desired configuration; 2. avoiding
collisions; 3. preserving the connectedness of uncertain topology. To achieve
these objectives, firstly, a condition of Linear Matrix Inequalities (LMIs) is
proposed for checking the connectedness of an uncertain communication topology.
Then, by preserving the initial topological connectedness, a gradient-based
distributed controller is designed via Lyapunov-like barrier functions. Two
numerical examples illustrate the effectiveness of the proposed method.

30
The categories of this paper are: q-alg
11
The categories of this paper are: hep-lat
4
The categories of this paper are: cond-mat
31
The categories of this paper are: ao-sci
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The categories of this paper are: bayes-an
18
The categories of this paper are: econ
16
The categories of this paper are: stat
33
The categories of this paper are: plasm-ph
22
The categories of this paper are: chao-dyn
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The categories of this paper are: comp-gas
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The categories of this paper are: quant-ph
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The categories of this paper are: atom-ph
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The categories of this paper are: solv-int
6
The categories of this paper are: astro-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: alg-geom