Time-varying Output Formation Tracking Control of Discrete-time Heterogeneous Multi-agent Systems

doi:10.16182/j.issn1004731x.joss.21-0645

Abstract

Abstract: Aiming at the discrete-time heterogeneous multi-agent systems with different dimensions and parameters, the time-varying output formation tracking control is studied by using the output regulation method. Assuming that the multi-agents system is consisted of multiple followers and multiple leaders, and the followers can't obtain the leaders' states, the distributed observers are designed by using the neighboring relative information. Based on the states of the distributed observers, the time-varying output formation tracking protocols and algorithm are presented by using the states feedback, and the sufficient conditions that guarantee the protocols' effectiveness are also given. The simulation results show that, with the control protocols, the output of followers can form the time-varying formation, and track the convex combination of the leaders' states at the same time.

Key words: heterogeneous multi-agent systems, discrete-time systems, output regulation, time-varying formation tracking

CLC Number:

TP273

Qi Xiaolong, Yang Xuguang. Time-varying Output Formation Tracking Control of Discrete-time Heterogeneous Multi-agent Systems[J]. Journal of System Simulation, 2022, 34(1): 36-44.

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