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

作　　者：Zhongxin Liu Yangbo Li Fuyong Wang Zengqiang Chen 

机构地区：[1]College of Artificial Intelligence,Nankai University,Tianjin 300350 [2]Tianjin Key Laboratory of Intelligent Robotics,Nankai University,Tianjin 300350,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2021年第10期1715-1723,共9页自动化学报（英文版）

基　　金：supported by National Natural Science Foundation of China(61573200,61973175);the Fundamental Research Funds for the Central Universities,Nankai University(63201196)。

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.

关 键 词：Discrete-time systems formation control leader-following multi-agent system reduced-order observer 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]