Angle-constrained formation control has garnered significant attention owing to the advantage of interedge angles invariant under translation, rotation, and scaling. However, most existing approaches addressing this problem are applicable only to single- or double-integrator dynamics, which are often impractical in real-world scenarios. In this article, an angle rigidity-based adaptive formation control framework is introduced for nonlinear multiagent systems subject to mismatched uncertainties. The proposed control framework integrates a prescribed performance control approach with a recursive backstepping procedure, offering several key advantages: the capability to handle unmatched system uncertainties, the preservation of angle rigidity throughout the formation process, and the assurance that the triangulated formation shape is asymptotically achieved without risking collisions between neighboring agents. Furthermore, since the control input of each agent only requires local information related to its neighbors, which can be obtained locally from its own sensors, the proposed control method can be deployed in a communication-free environment. The effectiveness of the proposed control algorithms is validated by extensive numerical simulation.

In this paper, the distributed Nash equilibrium (NE) searching problem is investigated, where the feasible action sets are constrained by nonlinear inequalities and linear equations. Different from most of the existing investigations on distributed NE searching problems, we consider the case where both cost functions and feasible action sets depend on actions of all players, and each player can only have access to the information of its neighbors. To address this problem, a continuous-time distributed gradient-based projected algorithm is proposed, where a leader-following consensus algorithm is employed for each player to estimate actions of others. Under mild assumptions on cost functions and graphs, it is shown that players' actions asymptotically converge to a generalized NE. Simulation examples are presented to demonstrate the effectiveness of the theoretical results.

In this paper, we study the consensus problem of discrete-time and continuous-time multiagent systems with distance-dependent communication networks, respectively. The communication weight between any two agents is assumed to be a nonincreasing function of their distance. First, we consider the networks with fixed connectivity. In this case, the interaction between adjacent agents always exists but the influence could possibly become negligible if the distance is long enough. We show that consensus can be reached under arbitrary initial states if the decay rate of the communication weight is less than a given bound. Second, we study the networks with distance-dependent connectivity. It is assumed that any two agents interact with each other if and only if their distance does not exceed a fixed range. With the validity of some conditions related to the property of the initial communication graph, we prove that consensus can be achieved asymptotically. Third, we present some applications of the main results to opinion consensus problems and formation control problems. Finally, several simulation examples are presented to illustrate the effectiveness of the theoretical findings.In this paper, we study the consensus problem of discrete-time and continuous-time multiagent systems with distance-dependent communication networks, respectively. The communication weight between any two agents is assumed to be a nonincreasing function of their distance. First, we consider the networks with fixed connectivity. In this case, the interaction between adjacent agents always exists but the influence could possibly become negligible if the distance is long enough. We show that consensus can be reached under arbitrary initial states if the decay rate of the communication weight is less than a given bound. Second, we study the networks with distance-dependent connectivity. It is assumed that any two agents interact with each other if and only if their distance does not exceed a fixed range. With the validity of some conditions related to the property of the initial communication graph, we prove that consensus can be achieved asymptotically. Third, we present some applications of the main results to opinion consensus problems and formation control problems. Finally, several simulation examples are presented to illustrate the effectiveness of the theoretical findings.