Output-feedback-based affine formation manoeuvre control of multi-agent systems applying negative imaginary systems theory

This paper exploits the Negative Imaginary systems theory to develop a novel affine formation manoeuvre control framework for multi-agent systems using dynamic output feedback. The framework begins by deriving affine transformation matrices for leader agents, enabling dynamic adjustments from the nominal formation to the target formation. An output-feedback distributed Strictly Negative Imaginary control law is then proposed for follower agents to achieve affine formation manoeuvres. Unlike existing affine formation manoeuvre control schemes, which typically rely on full-state feedback (including both position and velocity measurements), the proposed approach requires only relative position measurements. In addition, it offers more freedom in choosing a dynamic controller transfer function, thereby improving formation tracking performance. A comprehensive simulation case study is provided to test the effectiveness of the proposed output-feedback-based affine formation manoeuvre control framework.