Formation Control of Heterogeneous Multi-Agent Systems with Time-Delay Based on Output Regulation

This note considers the formation control of heterogeneous multi-agent systems with time delay, in which all agents are divided into a leader and followers. Here, the output regulation method is employed such that followers track the leader and finally converge to a desired formation as there exists communication time-delay. For this purpose, a distributed observer is proposed for each follower to estimate the state of the leader, and then employ a feedback controller to update its states. As the distances among followers and leader are predefined, we have shown that the considered heterogeneous multi-agent systems with time-delay can achieve the desired formation. Simulation example is included to illustrate the validity of the proposed method.