Formation control of first-order multi-agents with region constraint

Formation problem of multi-agents systems has been investigated studied by more and more scientists. This paper studies the formation problem of the first-order multi-agent systems with region constraint. Not only formation control but also the constraint area is considered. The state of each agent is constrained by a common convex set. A formation control protocol is proposed based on the local information of neighbourhood and region constraint. If the communication topology is connected, and the target framework is rigid, all agents would enter the target area while reaching the desired formation. The convergence of the formation control to the final formation is guaranteed as proven by Lyapunov framework. Compared with the leader follower controller, the controller does not depend on the leader and has good robustness. In addition, the controller can quickly and accurately control all agents to all agents to enter the constrained area. Finally, the results are illustrated by numerical simulations.