Distributed Semi-Global Output Feedback Formation Maneuver Control of High-Order Multiagent Systems

This article addresses the formation maneuver control problem of leader–follower multiagent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so that the scale, orientation, translation, and shape of formation can be manipulated continuously, where the followers do not need to know or estimate the time-varying maneuver parameters only known to the leaders. Compared with existing relative-measurement-based formation maneuver control, the advantages of the proposed method are that it is output (relative output) feedback based and shows how to realize different types of formation shape. In addition, it can be applied to nongeneric and nonconvex nominal configurations and the leaders are allowed to be maneuvered. It is worth noting that the proposed method can also be extended to general linear multiagent systems under some additional conditions. The theoretical results are demonstrated by a simulation example.