Cooperative Adaptive Time-Varying Formation Tracking for Multi-Agent Systems with LQR Performance Index and Switching Directed Topologies

This paper presents a novel distributed adaptive time-varying formation tracking protocol for general linear multi-agent systems. In contrast to the existing distributed methods that require global information of the interaction graph, the proposed control strategy is fully distributed such that each agent only requires its own information and the information from its neighbors through switching directed communication networks. Then, an algorithm to determine the control parameters is presented, where feasible formation condition for the followers to accomplish the desired time-varying formation tracking is provided. Furthermore, the proposed strategy is also guaranteed to achieve an optimal control performance index by using the inverse optimal approach. Simulation results are provided to verify the effectiveness of the proposed strategy.