Robust Output Formation Tracking for Heterogeneous Multiagent Systems With Multiple Leaders: Theory and Application

This article addresses the problem of robust time-varying output formation tracking (TVOFT) in heterogeneous multiagent systems (MASs) having multiple heterogeneous leaders under a directed topology, where both followers and leaders may exhibit distinct dynamics and dimensional properties. The objective is for the followers to track a predefined convex combination of the leaders’ outputs while simultaneously achieving an expected time-varying formation. Current related approaches often assume that each follower is either well-informed (i.e., connected to all leaders) or uninformed. This work overcomes this constraint by introducing a novel approach that employs a fully distributed observer-based scheme. First, the proposed method utilizes neighboring information and local estimations to design an adaptive observer for each follower that can estimate multiple leaders’ states with unknown inputs. Besides, to further handle the unknown external disturbances, a novel neuro-adaptive learning algorithm is proposed. Moreover, the output regulation method and the Lyapunov stability theory are used to establish robust TVOFT criteria for the closed-loop system based on the proposed observer-based control protocol. The parameters of the control protocol are derived using a structured four-step algorithm. At last, a heterogeneous experimental platform consisting of three autonomous aerial vehicles and three autonomous ground vehicles is constructed to validate the theoretical results.