Formation Control of Multi-agents with Position and Velocity Constraints on Environmental Boundary

This paper deals with the formation control problem of a multi-agent system which moves on environmental boundary and is subject to position and velocity constraints. A distributed formation control law is developed under which the position and velocity constraints of each agent can be always satisfied. Due to the existence of position constraints, prescribed formations generally cannot be achieved by the mobile agents. Consequently, lower and upper bounds on all agents' formation errors when time goes to infinity are provided. Moreover, a sufficient condition for achieving any admissible prescribed formation is also given, that is, all agents do not reach the upper bounds on their positions. Simulation results demonstrate the performance of the proposed control law.