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Volume 8 Issue 10
Oct.  2021

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2021  >  8(10): 1715-1723
Z. X. Liu, Y. B. Li, F. Y. Wang, and Z. Q. Chen, "Reduced-Order Observer-Based Leader-Following Formation Control for Discrete-Time Linear Multi-Agent Systems," IEEE/CAA J. Autom. Sinica, vol. 8, no. 10, pp. 1715-1723, Oct. 2021. doi: 10.1109/JAS.2020.1003441
Citation: Z. X. Liu, Y. B. Li, F. Y. Wang, and Z. Q. Chen, "Reduced-Order Observer-Based Leader-Following Formation Control for Discrete-Time Linear Multi-Agent Systems," IEEE/CAA J. Autom. Sinica, vol. 8, no. 10, pp. 1715-1723, Oct. 2021. doi: 10.1109/JAS.2020.1003441
shu

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

doi: 10.1109/JAS.2020.1003441
  • 1.

    College of Artificial Intelligence, Nankai University, Tianjin 300350, China

  • 2.

    Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China

Funds:  This work was supported by National Natural Science Foundation of China (61573200, 61973175), and the Fundamental Research Funds for the Central Universities, Nankai University (63201196)
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    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 multi-agent system can achieve the expected leader-following formation. Finally, numerical examples are provided so as to demonstrate the effectiveness of the obtained results.

     

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    Highlights

    • Under directed switching topology, the leader-following formation control problem for discrete-time linear multi-agent systems is first considered in this work.
    • A novel reduced-order observer is designed for each following agent based on the relative output information, which can estimate the state effectively.
    • Based on the Lyapunov method and the modified discrete-time Algebraic Riccati Equation, a multi-step control algorithm is established for achieving the expected leader-following formation.

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