Reference for citation: Pham Q. P. Multi-agent system control algorithms for coordinated route movement. Journal of Instrument Engineering. 2025. Vol. 68, N 12. P. 1046–1055 (in Russian). DOI: 10.17586/0021-3454-2025-68-12-1046-1055.

Abstract. This paper proposes new methods for multi-agent formation control during coordinated following of straight and circular paths. The dynamics of the agents are described using a nonholonomic model, which is a universal approach suitable for a wide range of robotic platforms. The task of the agents is to follow given straight and circular paths while simultaneously maintaining a desired geometric formation. A formation control algorithm based on the leader–follower strategy is developed, ensuring coordinated agent motion and preservation of the specified formation. In addition, a fully distributed control algorithm is proposed, which does not require a leader and relies solely on local information from neighboring agents. For each algorithm, the stability of the desired formation is analyzed. The effectiveness of the proposed algorithms is validated through numerical simulations in MatLab.

Keywords: coordinated path following, formation control, leader–follower strategy, distributed control algorithm, consensus algorithm, multi-agent system

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