Formation Control of Discrete-time Multi-agent Systems Based on Distributed Filter Observer

This paper explores the formation control of discrete multi-agent systems under external communication disturbance. Firstly, leveraging the modified algebraic Riccati equation, a disturbed output based discrete filter observer is proposed to minimize network information exchange and mitigate disturbance effects. Then, the formation control issue is transformed into a cooperative output regulation problem, which a certainty equivalent state feedback controller solves. The effectiveness of the control strategy is demonstrated by numerical simulations.