Distance-Based Formation Control with Prescribed Performance for Higher-Order Multi-Agent Systems

Abstract

We consider distributed distance-based formation control with prescribed transient performance for multi-agent systems modeled by unknown nonlinear dynamics of relative degree greater than one. We introduce a virtual leader whose trajectory is tracked with prescribed transient behavior by a designated subset of agents. The undirected communication graph is either a tree graph or a minimally and infinitesimally rigid graph. In the latter case, we further consider the objective of centroid tracking. In each setting, a distributed and model-free control law is developed, and we establish the satisfaction of the prescribed funnel constraints on the formation and tracking errors, and boundedness of all closed-loop signals. Numerical simulations illustrate the effectiveness of the proposed control laws.