Loose Formation Control of Multi-Agent Systems based on Piecewise Function

This paper introduces a loose motion control algorithm for multi-agent systems whose interaction is described by a connected undirected graph. The proposed algorithm guarantees agents to achieve a loose formation motion. Each agent is driven by a nonlinear piecewise function of the coordination errors, to save agents from unnecessarily overcontrolling and, hence, it can reduce the energy cost in the case where input uncertainties exist. Both theoretical analyses on stability and simulations are given to demonstrate the effectiveness of the algorithm.