Formation control and trajectory tracking control of heterogeneous linear multi-agent systems

This paper presents a method for formation control of heterogeneous multi-agent systems (MAS), employing static output feedback scheme for linear dynamical agents. The control problem divided into stability analysis and formation control of the MAS. Using a static output feedback controller, control problem is formulated as a feasibility problem with LMI and BMI constraints. We propose a trajectory tracking along with formation control for linear MAS. Finally, Numerical simulations are provided to show the effectiveness of the proposed methods

Keywords:

multi-agent systems , formation control , trajectory tracking , heterogeneous systems