Rolling optimization formation control for multi-agent systems under unknown prior desired shapes

This paper deals with the optimal formation control problem of multi-agent systems under a prior unknown desired shapes. The objective of this paper is to accomplish a rolling optimal formation of multi-agent systems by incorporating trajectory tracking and energy saving control into a unified framework. First, according to the real-time desired position offset between each follower and the leader, the rolling optimization performance indexes are introduced. Then, a distributed rolling optimization algorithm is proposed to realize the desired formation of multi-agent systems under the minimum energy consumption of agents. Finally, several simulation examples are conducted to illustrate the effectiveness of the proposed design algorithm.