An adaptive output regulation approach for formation control of heterogeneous multi-agent systems
Shaobao Li, Meng Joo Er, Ning Wang, Chiang‐Ju Chien · 2016
In this paper the formation control problem of heterogeneous multi-agent systems is investigated. The formation control problem is first transformed to an output regulation problem, and then a distributed adaptive control law based on state feedback is designed to solve the problem. The salient feature of the developed control law is that the feedback gains are independent of the Laplacian matrix of the underlying system topology, which is of global nature. Furthermore, it is shown that all agents can form a formation and keep a desired relative position to a leader under a necessary and sufficient condition, and all feedback gains will approach some constant as time goes to infinity. An example demonstrates that the proposed control law is highly effective and efficient.