Distributed Consensus Control

This was a learning project I did when I started with robotics. I implemented multi-agent consensus for various robot dynamics and connectivity between them.

The project take initial conditions like their locations through GUI in MATLAB.

Trianlge Formation

Bipartite Triangle Formation

Containment

Formation (Left) | Formation on Bipartite Graph(Center) | Containment(Right).

First order intergrator Dynamics with positional consensus

Second order intergrator Dynamics with positional consensus

Second order intergrator Dynamics position and velocity consensus

First order intergrator Dynamics with positional consensus (Left) | Second order intergrator Dynamics with positional consensus (Center) | Second order intergrator Dynamics position and velocity consensus (Right).