Distributed Adaptive Formation Tracking Control under Fixed and Switching Topologies: Application on General Linear Multi-Agent Systems

In this paper, the time-varying formation tracking problem of general linear multi-agent system is discussed. A distributed protocol based on Riccati inequalities with adaptive coupling weights among follower agents and leader agent designed for a leader-following under fixed switching topologies. The configuration involved in paper expressed as bounded piecewise continuously differentiable vector function. will achieve desired trajectory leader. traditional static protocols, depend communication topology constant. However, are updated by state errors neighboring agents. Moreover, stability analysis MAS presented, proves that followers also could pre-specified formation, if graph jointly connected. Two numerical simulations indicate capabilities algorithms.