The design of a controller for multi-agent system formation based on leader-following

This paper concerns the formation control for multi-agent system. Considering the differences between the simulation and the practical situation and to improve the performance of multi-agent, a new method is proposed based on an original controller for multi-agent. In this method, the discrete-time model of agent is present and the velocity of agent is introduced. In the explication of the method, the new controller can achieve any shape formation and maintain formation by setting the relative coordinate between followers and leader and introducing coordinate rotation formula. In minimizing the time spent, the method, which is applicable for the noise case, conforms to the efficiency requirement in practical situation. Then, the stability of the rule is proved through the use of the Routh-Hurwitz criterion. Finally, the method with better rapidity and robustness proposed in this paper is validated by the experimental results.