Cooperative Tracking Control of Multi-Agent Systems with Collision Avoidance

This paper investigates the cooperative tracking control of a multi-agent system with collision avoidance. The main contribution is the design of a distributed control law incorporating a collision avoidance mechanism. The agents in the system are divided into leaders and followers. The leaders generate control inputs that enable the followers to track predefined setpoint trajectories while avoiding collisions. Simulation results validate the effectiveness of the proposed control law and demonstrate its advantages over other control approaches.