Distributed Formation Maneuver Control of Multiagent Systems Over Directed Graphs

To steer a team of multiple mobile agents to desired collective maneuvers so that the geometric pattern, translation, orientation, and scale of formation can be changed continuously, this article studies the formation maneuver control of single-integrator and double-integrator multiagent systems by a leader–follower strategy. Unlike most existing results requiring generic configurations or convex configurations, the proposed control algorithms can be applied to either nongeneric or nonconvex configurations. Distributed control algorithms are designed for the leaders and followers over directed graphs, respectively, where the formation’s maneuver parameters, such as geometric pattern, translation, orientation, and scale of formation are decided by the first leader. It is worth noting that the closed-loop tracking errors converge to zero globally. Some numerical simulations are given to illustrate the theoretical results.