Distributed-observer-based formation tracking control of heterogeneous multi-agent systems through sensory feedback
Liya Dou, Yingchao Wang · Journal of Control and Decision · 2025
This paper investigates the formation tracking control problem of heterogeneous linear multi-agent systems following a dynamic leader with partially accessible output. To achieve this, a sensory feedback distributed observer is designed for followers to cooperatively estimate the leader's state, based on which an adaptive controller is further proposed to achieve the local output formation tracking of the leader. Notably, the design of the distributed observer for each agent only relies on the local output measurements of its neighbouring agents and partial output information from the leader, eliminating the necessity of direct communication among the agents. This setting enhances the practical significance of the research problem while introduces technical challenges. By utilising coordinate transformation based on output regulation method, the output formation tracking control of the systems is converted into an equivalent stabilisation problem, which is solved by deriving sufficient conditions for the distributed observer and controller design using low-gain approach.