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Collision avoidance time-varying group formation tracking control for multi-agent systems

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Abstract

This study considers the time-varying group formation (TVGF) tracking control problem for general linear multi-agent systems (MASs) with collision avoidance, where the MAS is divided into multiple subgroups, enabling followers to form prescribed formations and track trajectories provided by their respective leaders without collisions. Firstly, a distributed TVGF tracking control protocol is introduced using only relative information among neighboring agents. Then, feasibility conditions under which MASs can successfully realize the TVGF tracking without collisions are put forward. Utilizing Lyapunov stability theory, the convergence of the TVGF tracking error systems is confirmed, ensuring the collision-free achievement of the desired formation. Finally, some simulation examples are provided to validate the effectiveness of the theoretical results.

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Data Availability

The data-sets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Acknowledgements

This work was supported by the Natural Science Foundation of Sichuan Province (2022NSFSC0037, 2024NSFSC0021), the Sichuan Science and Technology Programs (MZGC20230069, MZGC20240139), the Fundamental Research Funds for the Central Universities (ZYGX2023K025, ZYGX2024K028).

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Contributions

Weihao Li and Shiyu Zhou: Writing-original draft. Jiangfeng Yue and Boxian Lin: Software. Mengji Shi and Kaiyu Qin: Supervision.

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Correspondence to Mengji Shi.

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Li, W., Zhou, S., Shi, M. et al. Collision avoidance time-varying group formation tracking control for multi-agent systems. Appl Intell 55, 175 (2025). https://doi.org/10.1007/s10489-024-05959-0

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