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Practical Prescribed-Time Rigid Formation Maneuvering Control Under Performance Constraints
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王
DOI：10.1109/tie.2026.3679806.png)
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Abstract
En 中文
This article addresses the formation maneuvering control problem for multi-agent systems (MASs) by proposing a practical prescribed-time formation control scheme based on finite time-varying scaling functions. The approach employs time-scale transformation and state conversion techniques to coordinately regulate the convergence rate and precision of distance errors, ensuring specified accuracy is achieved within the prescribed time while maintaining rigidity-based formation errors within predefined performance boundaries. The developed method possesses a unique converging feature in that the distance errors first converge to a small adjustable residual set around zero within a prescribed finite time, and then asymptotically converge to zero (or to an adjustable bound). It features a dual-regulation mechanism that enables flexible configuration of formation error magnitude through coordinated parameter tuning of time-varying scaling functions and prescribed performance functions. Simultaneously, while guaranteeing convergence accuracy and transient performance, the control algorithm maintains safe inter-agent distances to achieve collision avoidance and connectivity preservation. Simulation and experimental results demonstrate that the proposed protocol enables MASs to synchronously track time-varying velocities while preserving rigidity-based formation configurations within the prescribed time, validating its comprehensive advantages in precision, transient performance, and safety assurance.
Keywords:
Decentralize control
multi-agent systems (MASs)
prescribed performance control (PPC)
prescribed-time control
Journal
IF:
7.2
Papers:
1.8W
Citations:
9.8W
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