Abstract
A coordinated control law to achieve rigid formation based on directed graph constructed by the Henneberg insertion for multi-agent systems subject to nonholonomic constraints and curvature constraints is proposed. The stability of the multi-agent system is established by the control law, and the control law can be applied to some practical scenarios, such as the possible sideslip problem or the formation of agents with a minimum turning radius of motion. Finally, the effectiveness of the control approach is illustrated by some numerical simulations.
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