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Sys."],"published-print":{"date-parts":[[2025,1]]},"abstract":"<jats:p> This paper proposes an efficient fast-optimal balanced differential game (DG) approach to address the formation control problem in dynamic environments for networked multi-agent systems (MASs). Compared to existing receding horizon distributed differential game (RH-DDG) approaches, the proposed approach employs a two-layer game structure to balance optimality and real-time performance, with a focus on formation control, collision avoidance and obstacle avoidance. In the offline layer, the problem is converted into a distributed differential game (DDG) where each agent computes strategies using distributed information from locally neighboring agents. The strategy of each agent self-enforces a unique global Nash equilibrium (G-NE) with a strongly connected communication topology, providing an optimal reference trajectory for the online game. In the online layer, a receding horizon differential game with an event-trigger mechanism (RH-DGET) is presented to track the G-NE trajectory. Ego players are triggered to update online Nash strategies only when the event-triggering condition is satisfied, ensuring the real-time safety certificate. Rigorous proofs demonstrate that the online Nash strategies converge to the offline G-NE until the trigger ends, and a certain dwell time condition is given to prevent the Zeno behavior. Simulation results validate the effectiveness of the proposed approach. <\/jats:p>","DOI":"10.1142\/s230138502550013x","type":"journal-article","created":{"date-parts":[[2023,9,30]],"date-time":"2023-09-30T03:15:02Z","timestamp":1696043702000},"page":"211-231","source":"Crossref","is-referenced-by-count":2,"title":["Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach"],"prefix":"10.1142","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4446-9858","authenticated-orcid":false,"given":"Wenyan","family":"Xue","sequence":"first","affiliation":[{"name":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"},{"name":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7346-5034","authenticated-orcid":false,"given":"Jie","family":"Huang","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"},{"name":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2040-9239","authenticated-orcid":false,"given":"Nan","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"},{"name":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6748-2866","authenticated-orcid":false,"given":"Yutao","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"},{"name":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-7779-5225","authenticated-orcid":false,"given":"Dingci","family":"Lin","sequence":"additional","affiliation":[{"name":"5G+Industrial Internet Institute, Fuzhou University, Fuzhou 350108, P.\u00a0R.\u00a0China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2023,11,4]]},"reference":[{"key":"S230138502550013XBIB001","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2021.109797"},{"key":"S230138502550013XBIB002","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2014.7004613"},{"key":"S230138502550013XBIB003","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385021500199"},{"key":"S230138502550013XBIB004","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2019.03.045"},{"key":"S230138502550013XBIB005","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2023.123249"},{"key":"S230138502550013XBIB006","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2892669"},{"key":"S230138502550013XBIB007","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2020.12.106"},{"key":"S230138502550013XBIB008","author":"Zheng C.-B.","year":"2022","journal-title":"IEEE Trans. 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