Distributed formation output regulation of switching heterogeneous multi-agent systems

Xiaoli Wang

International Journal of Systems Science, 2013, vol. 44, issue 11, 2004-2014

Abstract: In this article, the distributed formation output regulation problem of linear heterogeneous multi-agent systems with uncertainty under switching topology is considered. It is a generalised framework for multi-agent coordination problems, which contains or concerns a variety of important multi-agent problems in a quite unified way. Its background includes active leader following formation for the agents to maintain desired relative distances and orientations to the leader with a predefined trajectory, and multi-agent formation with environmental inputs. With the help of canonical internal model we design a distributed dynamic output feedback to handle the distributed formation output regulation problem.

Date: 2013
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DOI: 10.1080/00207721.2012.683831

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