Hybrid Dynamic Output Feedback Based Formation Control for Heterogeneous Multi-agent Systems

This paper addresses the time-varying formation problem of heterogeneous multi-agent systems via hybrid dynamic output feedback control. Impulsive control method is employed, which enables agents to interact with each other at discrete-time instants and reduces the communication burden compared with the existing literature that requires continuous-time information from neighbors. As the system state is not measurable, a local observer is designed based on the feedback of output state. Due to impulses, the closed-loop system turns to be hybrid with state jumps. Rigorous proof is proposed based on the input-to-state stability analysis to ensure asymptotic convergence. Moreover, if focusing on exponential convergence, then a new time-varying Lyapunov-like function is designed and a sufficient upper bound of average interaction interval is obtained, which verifies extra two matrix inequities. Furthermore, detailed steps of parameter design are given, which guarantees the matrix inequities by designing two associated Hurwitz matrices. Finally, a numerical example is presented to show the effectiveness of the method.