Distributed Time Formation Control for High-Order Heterogeneous Multi-Agent System With Jointly Connected Topology

作者：Sibo Hu, Di Zhu, Yueting Yang, Yuchen Zhang, Leiming He · 年份：2025 · DOI：10.23919/ccc64809.2025.11179725 · 研究领域：Distributed Control Multi-Agent Systems

This paper studies the time varying output formation problem of high-order heterogeneous multi -agent system with jointly connected topology, where each topology interval is not fully connected, but the union of these topologies is fully connected. The distributed observer for each agent formation reference function is designed, and its stability problem with the joint connected topology is simplified to the asymptotic stability problem of the time averaged system. The convergence of observer is proved by consistency and Lyapunov theory. Then a TVOF control protocol based on the distributed observer and a control protocol parameter design algorithm are raised, and the feasibility conditions and compensation input of heterogeneous multi-agent system with jointly connected topology were obtained by theoretical proof. Finally, the theoretical results are verified by simulation.