Multi-agent leader-following formation system based on model predictive control

In this paper, a multi-agent formation transformation based on model predictive control method is proposed. First, the mathematical model of the formation system is constructed based on the positional relationship between the leader and any follower. Due to the complexity of the formation system and many physical limitations between each individual and between the individual and the whole, a multi-agent formation based on model predictive control is applied. A formation error model is used in the MPC controller, both the individual state constraints and input constraints are addressed. Finally, the effectiveness of the method is verified through simulation, the work lays a foundation for the research of model predictive control for multi-agent formation systems.