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Formation preview tracking for heterogeneous multi-agent systems: A dynamical feedforward output regulation approach.

Yanrong Lu¹, Zhengguang Xu², Li Li³

¹College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China.

ISA Transactions

|July 30, 2022

Summary

This study introduces a new method for distributed formation tracking in multi-agent systems (MASs) using preview information. The approach enhances system performance and transient response by incorporating predictive data into the control strategy.

Keywords:

Distributed observer Feedforward-based output regulation Formation tracking MASs Preview control

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Area of Science:

Control Systems Engineering
Robotics
Networked Systems

Background:

Multi-agent systems (MASs) are crucial for complex tasks requiring coordinated behavior.
Distributed formation tracking enables agents to maintain relative positions while moving.
Preview information can improve control system responsiveness.

Purpose of the Study:

To investigate distributed formation tracking with preview information for discrete-time heterogeneous linear MASs.
To develop a method that enhances the transient response of MASs.

Main Methods:

Augmented system construction incorporating virtual regulation output and preview information.
Design of a linear distributed observer with extra parameters for asymptotic estimation.
Formulation of the problem as feedforward output regulation.

Main Results:

Sufficient conditions for achieving formation preview tracking were deduced.
Numerical simulations demonstrated the positive effect of preview actions on transient response.
The proposed observer effectively estimates system states.

Conclusions:

The developed distributed observer and output regulation strategy successfully achieve formation preview tracking.
Preview information significantly improves the transient performance of heterogeneous linear MASs.
The method is effective for discrete-time MASs over directed communication networks.