Decentralized Formation Control with Prescribed Distance Constraints and Shape Uniqueness

Yuqi Pan, Binglin He, Junyi Geng, Yang Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution


For Multi-Agent Systems (MAS) formation problem, this paper presents a novel decentralized control protocol that can guarantee the uniqueness of formation shape and restrain the distance between neighboring agents within a prescribed range. The proposed control law is decentralized, in the sense that each agent merely employs local relative information regarding its neighbors to obtain the control input. Using a delicately designed gain matrix, we avoid the problem of non-uniqueness of shape that is existed in the majority of the decentralized formation methods, especially the distance-based methods. Meanwhile, the distance constraints, like connectivity maintenance and collision avoidance, required in many practical scenarios are also addressed. Furthermore, the convergence of formation is rigorously proved under a less restrictive assumption on the communication graph. Finally, a comparative simulation verifies the effectiveness and superiority of proposed approach.

Original languageEnglish (US)
Title of host publication2023 American Control Conference, ACC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9798350328066
StatePublished - 2023
Event2023 American Control Conference, ACC 2023 - San Diego, United States
Duration: May 31 2023Jun 2 2023

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2023 American Control Conference, ACC 2023
Country/TerritoryUnited States
CitySan Diego

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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