This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among neighboring agents are also handled by the appropriate design of certain performance bounds that constrain the inter-agent distance errors. As an extension to the proposed scheme, distance-based formation centroid maneuvering is also studied for disturbance-free agents, in which the formation centroid tracks a desired time-varying velocity. The proposed control laws are decentralized, in the sense that each agent employs local relative information regarding its neighbors to calculate its control signal. Therefore, the control scheme is implementable on the agents’ local coordinate frames. Using rigid graph theory, input-to-state stability, and Lyapunov based analysis, the results are established for minimally and infinitesimally rigid formations in 2-D or 3-D space. Furthermore, it is argued that the proposed approach increases formation robustness against shape distortions and can prevent formation convergence to incorrect shapes under the effect of external disturbances, which is likely to happen in conventional distance-based formation control methods. Finally, extensive simulation studies clarify and verify the proposed approach.

本文提出了一种新的控制协议，用于具有指定性能的鲁棒基于距离的编队控制，在这种控制中，代理会受到未知的外部干扰。还可通过对某些性能边界的适当设计来限制相邻代理之间的连接性维护和避免冲突，从而限制代理之间的距离误差。作为所提出方案的扩展，还研究了基于距离的编队质心机动技术，用于无干扰代理，其中编队质心跟踪所需的时变速度。在每个代理使用有关其邻居的本地相对信息来计算其控制信号的意义上，建议的控制律是分散的。因此，该控制方案可在代理的局部坐标系上实现。使用刚性图论 输入到状态的稳定性，以及基于Lyapunov的分析，为二维或3-D空间中的最小和无限刚性刚体建立了结果。此外，据信所提出的方法增加了抵抗形状变形的地层鲁棒性，并且可以防止在外部干扰的影响下地层收敛到不正确的形状，这在传统的基于距离的地层控制方法中可能会发生。最后，大量的仿真研究澄清并验证了所提出的方法。有人认为，所提出的方法提高了抵抗形状变形的地层鲁棒性，并可以防止在外部干扰的影响下地层收敛到不正确的形状，这在传统的基于距离的地层控制方法中很可能会发生。最后，大量的仿真研究澄清并验证了所提出的方法。有人认为，所提出的方法提高了抵抗形状变形的地层鲁棒性，并可以防止在外部干扰的影响下地层收敛到不正确的形状，这在传统的基于距离的地层控制方法中很可能会发生。最后，大量的仿真研究澄清并验证了所提出的方法。