Generalized Homogeneous Formation Control for Unicycle Multi-Agent Systems

In this paper, the formation control problem for unicycle multi-agent systems is considered. The design of a generalized homogeneous leader–follower formation control protocol is studied which shows that such a control protocol can be obtained by “upgrading” from the classical linear control. With this proposed control protocol, a finite-time stability of the formation error is ensured if the acceleration of the leader is bounded by some known value. In addition, if the leader acceleration is unknown but bounded, the robust formation is achieved by ensuring the formation error's input-to-state stability. Simulations are carried out to verify the effectiveness of the proposed control protocol.