The flocking and formation of multiple agents based on multiple virtual leaders

This paper processes the formation problem of multiple agents by assuming multiple virtual leaders. The basic idea is stated as follows: every dynamic agent is equipped with a virtual leader, and the agents reach consensus with their virtual leaders on the velocity and position through assigning stable control laws. Therefore, to solve the formation problem we just need to preset the trajectories of every virtual leader, and make each agent globally asymptotically track its virtual leader. The detailed work in this paper is stated as follows: we first present the tracking design for the model of single agent single virtual leader, and then deal with the situation of multiple agents multiple virtual leaders. The stability analysis in the case of multiple agents is carried out by constructing suitable Lyapunov function, and the collision avoidance performance can be achieved due to the introduction of the artificial potential field. Finally, simulation examples are given to show the validity of the result.