Formation of multi-agent systems with desired orientation: a distance-based control approach

This paper proposes a nonlinear distance-based rigid formation shape control strategy with desired orientation, where the mutual perceptual relationships among agents are represented by a persistent directed graph. Only the orientation of the local coordinates of an agent is required to be consistent with the orientation of the global coordinate frame. The domain of attraction is characterized for the multi-agent system to achieve the desired formation control. For the first-order model, some precise initial conditions for the multi-agent systems to achieve the formation shape with desired orientation are derived. Some simulation examples are provided to verify the effectiveness of the control laws.