Output Affine Formation Maneuver Control for Heterogeneous Multiagent Systems With Nonautonomous Leaders

This article focuses on addressing the output affine formation control issue of heterogeneous general high-order multiagent systems (MASs) with nonautonomous leaders. An output affine formation maneuver control protocol and parameter design algorithm are proposed by the stress matrix embedded with the interaction information and the desired formation maneuver information. First, a distributed observer utilizing the interaction information in the stress matrix is designed for the followers to realize the asymptotic estimation of the multileader state. Then, by fusion of the desired formation information in the stress matrix and the estimated state of the multileader, the output affine formation controller is designed for the followers. With the support of Lyapunov stability, the stability of the output affine formation error system is analyzed for heterogeneous MASs. Finally, the validity of theoretical findings is verified through the simulation and experimental results.