Multilayer formation control of multi-agent systems

This paper first defines a multilayer formation control problem, where the agents can receive and transmit information among the layers. A layered distributed finite-time estimator is proposed for agents in each layer to obtain their target positions and velocities based on the information of agents in their prior layers. A model-based control law is then proposed to achieve multilayer formation, where the formation configurations can be constant or time-varying. This paper also gives a clue on multilayer formation control design in the presence of practical issues, such as model uncertainties and loss of velocity measurements. Simulation results are given to show the effectiveness of the proposed approaches with a group of satellites in a time-varying formation case.