In this article, we present a distributed formation control strategy for agents with variety of dynamics to achieve desired planar formation. Our approach is based on the barycentric-coordinate-based (BCB) control, which fully distributed, does not require interagent communication or common sense orientation, and can be implemented using relative position measurements acquired by in their local...

Fast and strong interacting systems are hard to control from both performance effort points of view. Moreover, multiple objective functions or objectives with various identifiers varying weights can hold unfeasible solutions at times. A novel cost function is proposed here overcome feasibility set limitations computational burdens. An application example used illustrate its added value, which a...