Time-varying output group formation tracking control for heterogeneous multiagent systems with switching topologies
Abstract
This article studies the time-varying output group formation tracking problem for heterogeneous multiagent systems with switching topologies. The primary objective is to design a time-varying output group formation tracking protocol such that the followers are driven to form the desired sub-formations and track the corresponding output of the leader in each subgroup. Firstly, distributed observers are developed to estimate the states of leaders with switching topologies. A time-varying output group formation tracking controller is then designed based on the proposed observers. It is shown that under the distributed protocol, the time-varying output group formation tracking control problem for heterogeneous multiagent systems with switching topologies can be solved if the average dwell time associated with the switching topologies is larger than a fixed threshold. Finally, an example is provided to demonstrate the effectiveness of the proposed protocol.
