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

来源：

IEEE/CAAJournalofAutomaticaSinica | 2021年 / 8卷 / 10期

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

页码：1715 / 1723

页数：9

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