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.
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Project supported by the National Natural Science Foundation of China (Nos. 61573199 and 61571441)
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Zhengquan YANG and Xiaofang PAN designed the research and processed the data. Zhengquan YANG drafted the manuscript. Qing ZHANG and Zengqiang CHEN helped organize the manuscript. Zhengquan YANG and Xiaofang PAN revised and finalized the paper.
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Zhengquan YANG, Xiaofang PAN, Qing ZHANG, and Zengqiang CHEN declare that they have no conflict of interest.
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Yang, Z., Pan, X., Zhang, Q. et al. Finite-time formation control for first-order multi-agent systems with region constraints. Front Inform Technol Electron Eng 22, 134–140 (2021). https://doi.org/10.1631/FITEE.2000177
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DOI: https://doi.org/10.1631/FITEE.2000177