An optimal design of the leader-following formation control for discrete multi-agent systems
Shijie Chen, Jiahao Dai, Jing–Wen Yi, Li Chai · IFAC-PapersOnLine · 2022
In this paper, the optimal design problem of the distributed leader-following formation control for discrete multi-agent systems is studied. Considering that the leader moves at a constant velocity, a distributed control protocol with an integrator is designed for the followers. Firstly, by the Jury criterion, the region of control gains is given to achieve the desired leader-following formation asymptotically. Secondly, the optimal design of the leader-following formation control is proposed. The explicit formulas of the control gains and the convergence rate are given. Finally, numerical simulations are presented to demonstrate the validity of the results.