Abstract
This paper studies the distributed formation tracking control problem of heterogeneous multi-agent systems where the multiple targets have unknown inputs with finite dimensional Fourier decompositions and each target’s measurement output is just available to partial agents. A distributed observer-based formation tracking control algorithm is proposed. The distributed observers are based on the consensus protocol and designed to estimate the inputs and states of all targets from the available measurement outputs and neighbor information. The tracking controller is a state feedback based on the estimated state center of the targets. It is proved that the estimation errors of all agents converge to zero, if and only if each target node in the extended topology is reachable from each agent node and the consensus gain is larger than certain value. It is further proved that under the formation tracking control algorithm, the agents can asymptotically achieve predesigned formation and encircle the targets. A numerical simulation example is given to verify the validity of the algorithm.
Published Version
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