Multi-Agent Formation Control Based on Set-Membership Filtering
Yute Xiao, Yu Qing Ding, Yirui Cong, Xiangke Wang · 2023
In this paper, we focus on the formation control problem of a multi-agent system under bounded process and measurement noises. To handle this problem, we model the system state as the uncertain variable, and establish a finite-horizon SMFing framework. Based on this, a constrained zono-topic algorithm is developed, which guarantees stability and has low computational burden. Moreover, a consensus protocol is designed based on the SMF state estimation. By choosing the control gain, the formation is achieved with the optimal convergence rate. Simulations corroborate the effectiveness of our theoretical results.