Nowadays, the control of multi-agent systems has gained special popularity among researchers. In the field of agent control, the problem of cluster formation for the purpose of coordinating movements an‎d performing joint missions, has attracted considerable attention. Achieving cluster formation requires maintaining a desired geometric structure an‎d avoiding collisions among agents in dynamic operational environments. In this study, the agents are considered heterogeneous, nonlinear, an‎d subject to disturbances an‎d uncertainties. Then observers with fixed-time convergence is used to design a cluster-formation control law an‎d its fixed time convergence analysis is done. It is proven that, for each group, the agents form the prescribed formation with respect to a defined reference trajectory. To prevent inter‐agent collisions, we introduce a suitably chosen collision‐avoidance function into the cluster‐formation control design. Through practical fixed‐time convergence analysis, we show that this ensures the cluster structure is maintained, while collisions are avoided. Numerical simulations under several operational scenarios demonstrate that the agents establish the desired cluster formation in fixed-time without collisions.

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مرضيه كمالي

محسن مجيري فروشاني , حامد جلالي بيدگلي