Finite-time formation control for first-ordermulti-agent systemswith region constraints

Abstract

In this study, the finite-time formation control of multi-agent systems with region constraints is studied. Multiple agents have first-order dynamics and a common target area. A novel control algorithm is proposed using local information and interaction. If the communication graph is undirected and connected and the desired framework is rigid, it is proved that the controller can be used to solve the formation problem with a target area. That is, all agents can enter the desired region in finite time while reaching and maintaining the desired formation shapes. Finally, a numerical example is given to illustrate the results.

Keywords

Finite-time formation / Multi-agent system / Asymptotic convergence / Set constraint / Lyapunov theorem

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2021 Zhejiang University Press