Reduced-Order Observer-Based Leader-Following Formation Control for Discrete-Time Linear Multi-Agent Systems

被引:0
作者
Zhongxin Liu [1 ,2 ,3 ]
Yangbo Li [2 ,3 ]
Fuyong Wang [2 ,3 ]
Zengqiang Chen [2 ,3 ]
机构
[1] IEEE
[2] the College of Artificial Intelligence, Nankai University
[3] the Tianjin Key Laboratory of Intelligent Robotics, Nankai University
关键词
Discrete-time systems; formation control; leader-following; multi-agent system; reduced-order observer;
D O I
暂无
中图分类号
TP13 [自动控制理论];
学科分类号
0711 ; 071102 ; 0811 ; 081101 ; 081103 ;
摘要
Formation control of discrete-time linear multi-agent systems using directed switching topology is considered in this work via a reduced-order observer, in which a formation control protocol is proposed under the assumption that each directed communication topology has a directed spanning tree. By utilizing the relative outputs of neighboring agents, a reduced-order observer is designed for each following agent. A multi-step control algorithm is established based on the Lyapunov method and the modified discrete-time algebraic Riccati equation. A sufficient condition is given to ensure that the discrete-time linear multi-agent system can achieve the expected leader-following formation.Finally, numerical examples are provided so as to demonstrate the effectiveness of the obtained results.
引用
收藏
页码:1715 / 1723
页数:9
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