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Scalable Formation of Heterogeneous Agents considering Unknown Disturbances

The problem considered in this work is formation control of linear heterogeneous Multi‐Agent Systems (MASs) where the size of the formation is scalable via a scaling factor determined by a leader agent. Agents are communicating through a leader‐follower time‐varying network and they are subjected to an unknown disturbances. Past works on scalable formation are limited to the case of homogeneous agents under fixed communication network and without considering disturbances. The control law in this work is based on the internal model principle and the H∞ control theory. A dynamic compensator is designed based on the regular H∞ output feedback problem and its output is used as the feedback signal in the main control input. Meanwhile, the main control input is designed based on the internal model principle. It is shown that the effect of the disturbance to the agent's output is minimized and the tracking error satisfies H∞ performance. The effectiveness of the proposed method is shown by numerical examples.