A Constrained Coordination Control Strategy for Multi-Agent Systems

Coordination control of multi-agent systems has received a great deal of attention and becoming an attractive research subject, in particular, the control problem of formation control with the property of convex hull is one of important aspect that is needed to deal with. In this paper, a decentralized constrained control method was proposed to achieve a specified formation in two dimensional plane using the inter-range between agents, only local knowledge is required, notice that all agents do not interact with each other based on the designed non-linear controller. To this end, suppose agents have the same measure capabilities, as a consequence, for each agent, its neighboring set of agents is created by using its sensing maximum distance, we then investigate the stability of multi-agent system. Finally, to support the theoretical results, some simulation results are provided, and future research directions are also briefly discussed.