Reduced-Order Observer-Based Leader-Following Formation Control for Discrete-Time Linear Multi-Agent Systems

Abstract

Formation control of discrete-time linear multi-agent systems using directed switching topology is considered in this work via a reduced-order observer, in which a formation control protocol is proposed under the assumption that each directed communication topology has a directed spanning tree. By utilizing the relative outputs of neighboring agents, a reduced-order observer is designed for each following agent. A multi-step control algorithm is established based on the Lyapunov method and the modified discrete-time algebraic Riccati equation. A sufficient condition is given to ensure that the discrete-time linear multiagent system can achieve the expected leader-following formation. Finally, numerical examples are provided so as to demonstrate the effectiveness of the obtained results.