Multi-task-based adaptive group containment and formation control for multi-agent system

This paper focuses on group containment and formation control of multi-agent systems with and without adaptive protocols. First, an adaptive control protocol is given with the ultimate goal of making the multi-agent system divided into two groups to achieve two different goals. The task of the first group of multi-agents is to achieve containment control. The task of the second group of multi-agents is to realize formation control by making all the followers form a formation shape between their positions and those of one leader according to certain expectations. Secondly, the conditions for realizing multi-task-based adaptive group containment formation control of multi-agent systems are obtained by applying the Lyapunov stability theory, combining the Laplacian matrix of the system and the connection matrix between the followers and the leader. Finally, the validity of the conclusion is confirmed by the verification of Matlab numerical simulation results.