Collision-Free Distributed Formation Control of Multi-Agent Systems Based on Formation Graph

In recent decades, distributed formation control for multiple agent systems (MAS) is becoming an increasingly attractive topic in many fields. This paper introduces the collision-free formation tracking control problem for MAS based on the formation graph. A formation control protocol for MAS composed of multiple quadrotors is designed to form the desired formation aiming to track and encircle a dynamic target. This target is considered a dynamic leader and the control input commands of the leader are unknown to the followers. In addition, the possibility of collision between quadrotors is very easy in forming the formation. Hence, a collision avoidance mechanism is also designed so that the distance of quadrotors in formation tracking is greater than the safety threshold. By using the Lyapunov theory-based stability analysis, it is proved that multiple quadrotors can track the dynamic target in a desired formation using the proposed method. Finally, several digital simulations are carried out to verify the effectiveness of the proposed protocol.