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Formation Control of Multi-Agent Systems with Region Constraint

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  • Zhengquan Yang
  • Qing Zhang
  • Zengqiang Chen

Abstract

In this paper, the formation problem for multi-agent systems with region constraint is studied while few researchers consider this problem. The goal is to control all multi-agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation control law is presented based on local information of the neighborhood. It is proved that the positions of all the agents would converge to the set constraint while reaching formation. Finally, two numerical examples are presented to illustrate the validity of the theoretical results.

Suggested Citation

  • Zhengquan Yang & Qing Zhang & Zengqiang Chen, 2019. "Formation Control of Multi-Agent Systems with Region Constraint," Complexity, Hindawi, vol. 2019, pages 1-6, December.
    • Handle: RePEc:hin:complx:8481060
    DOI: 10.1155/2019/8481060
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    References listed on IDEAS

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    1. Xuejing Lan & Wenbiao Xu & Yun-Shan Wei, 2018. "Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions," Complexity, Hindawi, vol. 2018, pages 1-9, September.
    2. E. G. Hernandez-Martinez & E. D. Ferreira-Vazquez & G. Fernandez-Anaya & J. J. Flores-Godoy, 2017. "Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints," Complexity, Hindawi, vol. 2017, pages 1-13, September.
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