Prescribed performance distance-based formation control of Multi-Agent Systems

Farhad Mehdifar*, Charalampos P. Bechlioulis, Farzad Hashemzadeh, Mahdi Baradarannia

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

116 Citations (Scopus)


This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among neighboring agents are also handled by the appropriate design of certain performance bounds that constrain the inter-agent distance errors. As an extension to the proposed scheme, distance-based formation centroid maneuvering is also studied for disturbance-free agents, in which the formation centroid tracks a desired time-varying velocity. The proposed control laws are decentralized, in the sense that each agent employs local relative information regarding its neighbors to calculate its control signal. Therefore, the control scheme is implementable on the agents’ local coordinate frames. Using rigid graph theory, input-to-state stability, and Lyapunov based analysis, the results are established for minimally and infinitesimally rigid formations in 2-D or 3-D space. Furthermore, it is argued that the proposed approach increases formation robustness against shape distortions and can prevent formation convergence to incorrect shapes under the effect of external disturbances, which is likely to happen in conventional distance-based formation control methods. Finally, extensive simulation studies clarify and verify the proposed approach.

Original languageEnglish
Article number109086
Publication statusPublished - Sept 2020
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2020 Elsevier Ltd


  • Collision avoidance
  • Connectivity maintenance
  • Distance-based formation control and maneuvering
  • Input-to-state stability
  • Prescribed performance control
  • Rigid graphs
  • Unknown external disturbances


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