A flexible formation control algorithm based on virtual leader

The flexible formation control of agent swarm is a hot problem. Multiple agents with double integrator dynamics to achieve flexible formation control is studied. A new flexible formation control algorithm is proposed based on artificial potential field and virtual leader. The stability is analyzed based on LaSalle invariant set principle. The simulation results show that it no needs velocity matching item. But it can realized flexible formation. It also can track fixed or maneuvering virtual leader.