Time-Varying Formation Control of Multiagent Systems Across Two Networks With Mixed Interactions

This article investigates the time-varying formation control problem (TVFCP) of multiagent systems (MAS) across two networks, wherein agents from distinct networks amalgamate to form a fully connected network through mixed interactions. Notably, each network is internally disconnected, resulting in unknown member identities within each network, and unobservable relative positions among agents. A game-based formation control (GBFC) strategy is proposed, incorporating private costs to delineate formation tasks, and a novel information exchange mechanism to realize the reconstruction of disconnected network characteristics, ensuring rapid convergence of all agents to the desired formation within their respective networks. Importantly, this strategy does not rely on inter-agent position or formation vector information exchange. Experimental and simulation results validate the effectiveness of the proposed algorithm.