Distributed cooperative formation of stochastic multi‐agent systems in finite horizon

• Published in: IET control theory & applications Vol. 17; no. 5; pp. 639 - 648
• Main Authors: Shi, Jiantao, Chen, Chuang, Shen, Mouquan, Liu, Dan
• Format: Journal Article
• Language: English
• Published: Stevenage John Wiley & Sons, Inc 01.03.2023
• Subjects: Control algorithms; Control systems; Controllers; Cooperative control; distributed control; Energy consumption; H-infinity control; Investigations; multi‐robot systems; Parameter modification; State observers; time‐varying systems; Unmanned aerial vehicles
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/cth2.12396

The paper addresses the distributed cooperative formation control problem for a class of general stochastic multi‐agent systems subject to time‐varying dynamics. A type of novel modified distributed state observer is constructed, whose estimation information is used to design the H∞$H_{\infty }$ control scheme for guaranteeing the mean‐square formation maintenance in finite‐horizon. Furthermore, the observer and controller parameters are obtained iteratively through solving a set of constrained recursive matrix equations. Finally, the proposed scheme has been validated by a simulation study. The paper addresses the distributed cooperative formation control problem for a class of general stochastic multi‐agent systems subject to time‐varying dynamics. A type of novel modified distributed state observer is constructed, whose estimation information is used to design the H_infinity control scheme for guaranteeing the mean‐square formation maintenance in finite‐horizon.