Safeguarded formation control via the artificial potential approach

This paper proposes a safeguarded formation control algorithm for a position—velocity safeguarded formation control system using multi-agent theory. In our study, based on artificial potential approach, we present a distributed safeguarded formation control algorithm. It is guaranteed that the system asymptotically converges to the pre-specified safeguarded formation on the effect of the control. And it can be proved that during achieving the objective, collisions among the members in the formation are avoided.