“…In recent years, the formation control problems of multi-agent systems have been extensively studied in various fields; see [ 1 ] and the references therein. Recently, typical perspectives on formation control include the time-varying formation control of multi-agent systems [ 2 , 3 , 4 , 5 ], the rigid formation of multiple robots [ 6 , 7 , 8 ], the fractional-order-based controller for multi-agent formation [ 9 ], event-based formation control [ 10 , 11 ] circle formation control [ 12 ], and game-based formation [ 13 ]. For the formation problem of multi-agent systems, the main task is to design an appropriate distributed controller to drive the agents form the predefined formation shape.…”