Time-varying Format ion Control of Discrete-time Multi-agent Systems with Directed Topology
Liang Han, Ming Luo, Feng Bao, Xiwang Dong, Qingdong, Zhang Ren · 2019
In this article, time-varying formation problem for second-order discrete-time multi-agent system (DMAS) is addressed, where all agents of DMAS form a specified time-varying formation. A discrete-time distributed formation protocol, which only use the partial state information, is given. Necessary and sufficient conditions for the given DMAS system to accomplish the desired formation are presented. A Riccati inequality based approach to obtain the unknown gain matrix of the distributed formation protocol is proposed. Numerical simulation examples are applied to verify the feasibility of the discrete-time distributed formation strategy.