Time-varying Output Group Formation and Tracking Control for Discrete-time Heterogeneous High-order Multi-agent System

Abstract

For the discrete-time heterogeneous high-order multi-agent system(MAS) with multiple leaders, the time-varying output group formation and tracking(TVOGFT) control problem is investigated in this paper. The followers are supposed to be partitioned into several groups, and are required to form different formation while track the average of leaders’ outputs. Firstly, in order to estimate the leaders’ states, the distributed observers considering the time-varying communication delay are presented, and by using Lyapunov theory, the states of observer are proved to asymptotically reach the average of leaders’ states. Then, the observer-based control protocols for followers of each group are designed, and the Algorithm regulating the control protocols is also given. It is illustrated that the control protocols can make followers realize the TVOGFT by choosing appropriate formation functions and parameters. Finally, a MAS consisted of ten followers and three leaders is adopted to illustrates the effectiveness of the proposed protocols.