Formation Tracking Based on Target Points

This paper investigates the distributed formation control problemin which a group of autonomous agents are controlled to form an expected minimally rigid, acyclic formation. First, we give the formulation of the formation control problem under consideration. Then, one-leader case and two-leader case are considered respectively. Then, by combining the idea of target points and integral feedback, a target-point based control is proposed such that the formation shape can be maintained and all agents converge to move at a common velocity. Simulation results are provided to show the effectiveness of the proposed approach.