Formation of Multi‐Agent Nonlinear Systems SDRE Controller

These codes simulate leader-follower formation of a swarm of nonlinear systems, using the state-dependent Riccati equation.

The codes are related to the published paper:

Saeed Rafee Nekoo, (2025). Formation Control of Multi-agent Nonlinear Systems using the State-Dependent Riccati Equation. Journal of Automation, Mobile Robotics and Intelligent Systems, 19(1), 17-32.

DOI: https://doi.org/10.14313/jamris-2025-003

Two types of agents were considered for the swarm simulations: quadrotor drones and differential-drive wheeled mobile robots.

--To run the simulation code of the swarm of the quadrotor drones, run the code: “Run_13_Multiagent_Drones_SDRE_Leader_Follower_Square_Obstacle.m” The number of agents is 36. You may increase the number of agents, but the time of simulation increases as well. Increasing the distance, flight height, etc., requires tuning of the control gains. The code has been checked for up to 1024 drones.

--To run the simulation code of the swarm of the mobile robots, run the code: “Run_14_Multiagent_MobileRobots_New_SDC.m” The number of agents is 45. You may increase the number of agents, but the time of simulation increases as well. Increasing the travel distance requires tuning of the control gains. The code has been checked for up to 1050 agents.

--Individual agent results of the state variables (j-th agent) can be seen in the plot section of the codes by selecting the desired agent number.

Video link of the simulations: https://www.youtube.com/watch?v=m_-dE6X7vD0