Connectivity-Preserving Formation Tracking for Multiple Double Integrators by a Self-Tuning Adaptive Distributed Observer

Abstract

In this letter, we study the distributed formation tracking problem for multiple double-integrator systems with connectivity preservation over a state-dependent communication network. In particular, we employ an adaptive distributed observer for the leader system that can estimate both the state and the system matrix of the leader. As a result, unlike the existing results, we do not require all vehicles to know the system matrix of the leader. Furthermore, the adaptive distributed observer incorporates a self-tuning dynamic observer gain, which eliminates the need of computing the observer gain in advance. The effectiveness of our approach is illustrated by an example.