Distributed Multi-layer Time-varying Output Formation Tracking Control for Heterogeneous Linear Multiagent Systems

In this paper, the problem of multi-layer distributed time-varying output formation tracking (TVOFT) control for heterogeneous linear multiagent systems is studied. In the proposed multi-layer structure, multiple formation shapes can be formed in one cluster system. Agents are divided into three layers: virtual leader, subgroup leaders, and followers. The virtual leader provides a reference tracking trajectory for the whole system; The subgroup leader tracks the virtual leader and cooperates with leaders from other subgroups to realize the cooperation among groups; The followers achieve the time-varying output formation tracking of their respective subgroup leaders. Distributed observers with adaptive updating mechanism based on the relative information among the neighbors are established first. Then, a local formation controller is presented by utilizing the estimated state from the observer, the local state, and the desired formation vector. Based on the Lyapunov stability theory, it is demonstrated that the expected multi-layer TVOFT tracking can be accomplished with the control law designed in this paper.