This article studies the formation and trajectory tracking control of multiagent systems. We present a novel multilayer graph for the multiagent system to enable extensibility of the interaction network. Based on the multilayer graph, a formation control law by using the potential function approach is developed for autonomous formation, formation maintenance, collision, and obstacle avoidance. When the desired formation is achieved, the barycentric of the formation shape is viewed as a virtual leader, and a model predictive control (MPC) scheme is applied to the virtual leader for tracking a reference trajectory; meanwhile, the agents will maintain the desired angles and distances via the formation control law. By applying the proposed schemes, the tasks of formation maintenance and trajectory tracking in a constrained space are fulfilled. Comprehensive simulation studies under different environmental constraints and trajectories confirm the effectiveness of the proposed approaches in addressing the formation and trajectory tracking problems.

中文翻译：

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基于MPC算法的多智能体编队和轨迹跟踪控制的多层图。

本文研究多智能体系统的编队和轨迹跟踪控制。我们为多代理系统提出了一种新颖的多层图，以实现交互网络的可扩展性。基于多层图，利用势函数法建立了自主编队、编队维持、碰撞和避障的编队控制律。当达到期望的编队时，将编队形状的重心视为虚拟领导者，并将模型预测控制（MPC）方案应用于虚拟领导者以跟踪参考轨迹；同时，代理将通过编队控制法则保持所需的角度和距离。通过应用所提出的方案，完成了在受限空间内的编队维护和轨迹跟踪任务。