Multi-Agent Formation Control under Switching Network and Input Constraints

Abstract

This work discusses formation control of heterogeneous Multi-Agent Systems (MASs) under discrete time setting where its formation size is scalable by a scaling factor. The case with and without input constraints are discussed. The communication network is assumed to be jointly connected and the leader-follower network is assumed for the unconstrained case. Compared to the previous work on distributed scalable formation control for heterogeneous agents, this work considers input constraints in the formulation. The proposed algorithm is based on the discrete time version of the internal model principle and the constraint is handled by the command governor. Numerical examples are shown to illustrate the proposed method.