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By utilizing the leader\u2013follower strategy, an integrated controller that combines a sliding mode controller for formation control and a force function for obstacle avoidance is proposed. To address the common chattering issue associated with sliding mode control, a novel depletion model is developed, which constrains the controller input to vary smoothly within a small range and effectively eliminates chattering. Additionally, a dynamic-gain structure is introduced to reconcile the conflicting demands of formation control and obstacle avoidance, providing enhanced coordination between the two tasks. 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