Finite Horizon Cooperative Formation Control for Multi-agent Systems

In the paper, a type of finite horizon cooperative formation control problem has been studied for multi-agent systems. We have proposed a type of cooperative control scheme using distributed observers in order to guarantee the prescribed formation configuration. For getting the parameters of controllers and observers, a set of constrained backward recursive Riccati difference equations (RDEs) have been designed. Finally, a simulation study has been given to verify the proposed cooperative control scheme.