Time-Varying Formation Control of Heterogeneous Multi-Agent Systems Under Markovian Switching Topology

This paper primarily investigates the distributed time-varying formation (TVF) control problem of heterogeneous linear multi-agent systems (MASs). Considering the complexity of pratical communication environments, communication topology among agents may exhibit Markov switching behavior, which increases the difficulties of distributed communication and degrade the control performance. Additionally, the controller design for heterogeneous MASs is more challenging compared to homogeneous MASs due to the variousness of the system structures. Hence, an output regulation framework based on adaptive distributed communication observers is designed for directed Markovian switching topology and the control stability in the mean square sense of the closed-loop MAS is achieved. And finally, an example of a UAV-UGV multi-agent system is used to show how effective the TVF control algorithm is.