Passivity-based formation control for second-order multi-agent systems with linear or nonlinear coupling

In this paper, passivity is used to investigate the formation control problem for second-order multi-agent systems (MASs) with linear or nonlinear coupling. Firstly, the passivity of a single agent is studied by selecting appropriate adaptive state feedback controllers. Moreover, in order to ensure that MASs with nonlinear intrinsic dynamics and linear/nonlinear coupling can converge to a predefined formation, some appropriate control schemes are designed based on the passivity of a single agent. In addition, the passivity-based formation problem for the MASs with double-integrator dynamics is also studied. Finally, the effectiveness of the proposed formation control strategies is demonstrated through two numerical examples.