Output-Feedback Formation Tracking Of Second-Order Multi-Agent Systems With Asynchronous Variable Sampled Data

This paper deals with the problem of time-varying formation tracking for second-order multi-agent systems under directed topology, where the follower states form a desired formation while tracking the state of the leader. It is considered that each agent, including the leader, has second-order dynamics and can only transmit its position to its neighbors. The velocities and inputs are not exchanged between neighboring agents. In this work, it should be mentioned that contrary to many existing schemes, asynchronous and aperiodic sampling is considered. For each agent, an observer is proposed to estimate its state and the state of its neighbors from the available local asynchronous and aperiodic sampled position data. Using these estimates, a time-varying formation tracking protocol is developed. The stability of the closed-loop system which combines the continuous-discrete time observer and the formation tracking controller is analysed using an appropriate Lyapunov function. The effectiveness of the proposed output feedback controller is illustrated for various formations through simulation results.