defense Qingkai Yang: "Constructing tensegrity frameworks and related applications in multi-agent formation control"

This thesis discusses the problem of constructing tensegrity frameworks and their applications in formation control for multi-agent systems. First we propose several approaches to grow rigid, infinitesimally rigid, and super stable tensegrity frameworks. Then the virtual tensegrity frameworks have been applied to solve formation control problems. Different type of control algorithms are proposed to maneuver the formation. In addition, distributed formation tracking control law is designed such that the formation shape is achieved whilst tracking a external reference signal.