Continuous Region-Following Formation Control of Multi-agent Systems

In this paper, a region-following formation control (RFFC) problem is studied for multi-agent systems. The objective of RFFC is to develop cooperative algorithms for agents to track the unknown center of dynamic region meanwhile maintaining a specified-configuration formation. Using the boundary layer approximation, a continuous RFFC algorithm is constructed to reduce the control chattering. During the movement, the formation can zoom or rotate subject to constraints of some environmental conditions. Finally, the effectiveness of the designed RFFC algorithm is shown by a numerical example.