Multilayer Formation Control in Constrained Space

This paper addresses the multilayer formation control (MLFC) problem for multi-agent systems in constrained space. A layered distributed finite-time estimator (LDFE) is proposed to acquire the target states for agents in each layer. To avoid collisions with borders, obstacles, as well as the other agents in the constrained space, an artificial potential function is designed based on the Dirac delta function. Based on the LDFE and the proposed potential function, the MLFC algorithm is proposed for multiple Euler-Lagrange systems (MELSs). The semi-global uniform ultimate boundedness of closed-loop errors is guaranteed by Lyapunov stability theory, while the desired formation of each layer can be achieved without collisions occurring in the constrained space. Simulation results are given to show the effectiveness of the proposed approaches.