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arXiv · 2608.12896

Distance-Based Formation Control with Prescribed Performance for Higher-Order Multi-Agent Systems

Janina Schaa·Maria Charitidou·Dimos V. Dimarogonas·Thomas Berger
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Abstract

We consider distributed distance-based formation control with prescribed transient performance for multi-agent systems modeled by unknown nonlinear dynamics of relative degree greater than one. We introduce a virtual leader whose trajectory is tracked with prescribed transient behavior by a designated subset of agents. The undirected communication graph is either a tree graph or a minimally and infinitesimally rigid graph. In the latter case, we further consider the objective of centroid tracking. In each setting, a distributed and model-free control law is developed, and we establish the satisfaction of the prescribed funnel constraints on the formation and tracking errors, and boundedness of all closed-loop signals. Numerical simulations illustrate the effectiveness of the proposed control laws.

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Janina Schaa, Maria Charitidou, Dimos V. Dimarogonas, Thomas Berger. 2026-08-13. Distance-Based Formation Control with Prescribed Performance for Higher-Order Multi-Agent Systems. https://arxiv.org/abs/2608.12896

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