Limited-energy output formation for multiagent systems with intermittent interactions

Limited-energy output formation design and analysis problems are addressed for multiagent systems with intermittent interactions. Firstly, a new dynamic output feedback formation control protocol with the limited energy supply is proposed, which contains two independent parts associated with the interactive interval and the non-interactive interval. Then, sufficient conditions for leaderless limited-energy output formation are proposed by a new two-step design approach, which can make two gain matrices of the formation control protocol be designed independently. Meanwhile, the output formation reference function is determined to describe the absolute motion of all agents as a whole. Moreover, by constructing two transformation matrices with specific structures, the main conclusions for leaderless multiagent systems are extended into leader-follower ones. Finally, two numerical simulations are shown to demonstrate theoretical results. (c) 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

Automated summary

This paper addresses limited-energy output formation design and analysis problems for multiagent systems with intermittent interactions. It proposes a new dynamic output feedback formation control protocol with limited energy supply and sufficient conditions for leaderless limited-energy output formation. The paper also extends main conclusions for leaderless multiagent systems into leader-follower ones and provides numerical simulations to demonstrate theoretical results.