Distributed Prescribed-time Leader-following Formation Control for Second-order Multi-agent Systems via Output Feedback
Bo Li, Wenquan Gong, Hui Liu, Yongsheng Yang · 2022 41st Chinese Control Conference (CCC) · 2022
This work investigates the distributed prescribed-time formation control problem for the second-order multiagent systems via output feedback in time-varying formation case. First, a novel kind of distributed prescribed-time estimators are proposed to accurately estimate the position and velocity information of the leader, since the states of the leader can only be achieved by part of the followers. Subsequently, to deal with the situation that the velocity measurements are not available for the agents, the distributed observer-based formation control protocol is presented such that the desired trajectories can be tracked and the desired patterns can be achieved within the prescribed settling time. The rigorous stability analysis is presented by Lyapunov methodology. Finally, numerical simulation results are given to illustrate the efficiency of the proposed scheme.