Output Formation Control for Heterogeneous Linear Multi-Agent Systems via Node-Based Adaptive Control Method

Abstract

This paper studies the output formation control problem of heterogeneous linear leader-follower multi-agent systems(MASs) via node-based adaptive control method. By combing the leader and the relative position as an exosystem, the output formation control problem is converted to a standard output regulation problem. To estimate the state of leader, an adaptive observer is proposed, and a distributed state observer for each agent is also presented for practical consideration. Then based on output regulation technique, a node-based adaptive dynamic output feedback control protocol is devised. The adaptive strategy is constructed without using global information in this paper, which achieves fully distributed mode. Finally, a simulation result gives evidence of the availability of the presented control protocol.