Observer-based formation control of heterogeneous multi-agent systems without velocity measurements

In this paper, the problem of formation control of heterogeneous multi-agent systems is investigated. The heterogeneous multi-agent system is composed of first-order and second-order agents, where the second-order agents cannot obtain the velocity information. Firstly, without considering the input saturation, the distributed formation control protocols are designed for multi-agent systems with static leader and active leader respectively. By using Lyapunov stability theory and LaSalle's invariance principle, the protocols are proved to be effective. Then due to the actor saturation, the formation protocols for multi-agent systems with input saturation based on distributed observers and auxiliary systems are presented. Finally, the simulation results are given to illustrate the effectiveness of the proposed protocols.