Finite-time formation tracking control of multiagent systems under full-state constraints

This paper addresses the formation trajectory tracking problem of second-order nonlinear multi-agent systems (MASs) subjected to external disturbances. To achieve expeditious formation configuration and trajectory tracking, a distributed controller is designed based on finite-time framework. In order to mitigate the issues arising from the exponential terms in finite-time theory, which can lead to abrupt variations in system states, as well as to overcome the physical limitations imposed by real-world components on the system dynamics, a barrier function-based approach is proposed to transform the state-constrained problem into an unconstrained one. The finite-time convergence of the system is rigorously proven using Lyapunov theory. The effectiveness of the proposed control strategy is validated through simulation experiments involving four three-wheeled omnidirectional robots (ODRs).