Fully actuated system approach based adaptive formation control for heterogeneous multi-agent systems with asymmetric full-state constraints under fixed and switching topologies
Zhenghua Li, Ben Niu, Shuo Ding, Huanqing Wang, Xiang Liu, Xudong Zhao · Systems & Control Letters · 2026
This paper investigates a formation tracking control problem of heterogeneous multi-agent systems (MASs) with unknown nonlinear dynamics and asymmetric full-state constraints under fixed and switched communication topologies. Firstly, fuzzy logic systems are employed to approximate unknown nonlinear dynamics. Then, a distributed observer is developed to estimate the state information of the leader. By using the high-order fully actuated system approach, a nonlinear mapping function is introduced to transform an original constrained system into an unconstrained high-order fully actuated system model, effectively reducing computational complexity. Based on this transformed model, an adaptive formation controller is designed for each follower. Theoretical analysis shows that the designed formation controller guarantees that all system states remain within a specified constraint set, while achieving the desired formation performance of heterogeneous MASs under fixed and switching topologies. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control strategy.