Formation control for discrete‐time heterogeneous multi‐agent systems
Shuang Liang, Fuyong Wang, Zengqiang Chen, Zhongxin Liu
Abstract
Abstract In this article, the formation control problem is investigated for a class of general first/second‐order discrete‐time heterogeneous multi‐agent systems. Under directed connected topology, a novel formation control protocol is designed by using the relative local information among heterogeneous agents and the formation information in the desired formation. For the discrete‐time heterogeneous multi‐agent systems, some sufficient conditions are derived for reaching the desired formation. If the considered system has the same number of first‐order and second‐order agents, some necessary and sufficient conditions are also obtained by utilizing the bilinear transformation method. Finally, two numerical examples are proposed to demonstrate the feasibility of the obtained results.