Bipartite Time-Varying Output Formation Control of Heterogeneous Multi-Agent Systems

This paper studies the bipartite time-varying output formation (BTVOF) control problem for heterogeneous discrete-time linear multi-agent systems (MASs). A distributed estimator is developed to estimate the state of each agent using measurement values. Subsequently, the distributed formation controller is presented based on the distributed estimator and the reference generator. Meanwhile, based on Lyapunov stability theory, the sufficient solvability condition is derived to ensure the achievement of the desired formation control. Finally, we conduct a numerical simulation involving six quadrotors to empirically validate the efficacy of the proposed BTVOF control protocol.