Abstract

This paper investigates a heterogeneous multi-agent system consensus control problem under the leader-follower formation. The state dimensions of multi-agent systems (MASs) are diverse, which makes it difficult to analyze and design the controller for the multi-agent formation consistency problem. Therefore, an output feedback control scheme is designed for MAS consensus to ensure the output convergence for each follower. First, a discrete-time model of the leader-follower system is established. Then, an output feedback controller is provided with formation topology to ensure the formation consensus of the heterogeneous MAS. Finally, simulation results are shown to verify the designed control strategies.

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