Work

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

Year: 2026

Type: preprint

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.

Source: arXiv (Cornell University)

DOI: 10.48550/arxiv.2608.12896

Authors: Schaa, Janina, Charitidou, Maria, Dimarogonas, Dimos V., Berger, Thomas

Institutions: Martin Luther University Halle-Wittenberg, KTH Royal Institute of Technology

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funder: Deutsche Forschungsgemeinschaft

Award: FunnelFormationsregelung für Multiagentensysteme mit Anwendung auf den Formationsflug von Satelliten

OpenAlex ID: W7203475669

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