Rigidity-based formation control with prescribed performance for second-order multi-agents system

Abstract

This article presents the design of a formation control strategy for multi-agent systems with a dynamical model described by a double integrator subject to external perturbations. The proposed methodology is based on rigidity theory and uses a prescribed performance function, to impose constraints on the transient and steady-state response for the inter-agents distance errors. The stability analysis for the proposed control is based on Lyapunov theory and guarantees that the multi-agent system states remain ultimately bounded while ensuring that the constraints on the distance errors are satisfied. Finally, simulation results are presented to illustrate the performance of the proposed control strategy, nine agents moving in a three dimensional space achieving and maintaining a pre-define structure with a target velocity.