The problem considered in this work is formation control of linear heterogeneous Multi-Agent Systems (MASs) where the size of the formation is scalable via a scaling factor determined by a leader agent. Agents are communicating through a leader-follower time-varying network and they are subjected to an unknown disturbances. Past works on scalable formation are limited to the case of homogeneous agents under fixed communication network and without considering disturbances. The control law in this work is based on the internal model principle and the control theory. A dynamic compensator is designed based on the regular output feedback problem and its output is used as the feedback signal in the main control input. Meanwhile, the main control input is designed based on the internal model principle. It is shown that the effect of the disturbance to the agent's output is minimized and the tracking error satisfies performance. The effectiveness of the proposed method is shown by numerical examples.

中文翻译：

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考虑未知干扰的异构代理的可扩展形成

这项工作中考虑的问题是线性异构多代理系统 (MAS) 的编队控制，其中编队的大小可通过由领导代理确定的缩放因子进行缩放。代理通过领导者-跟随者时变网络进行通信，并且他们会受到未知干扰。过去关于可扩展编队的工作仅限于固定通信网络下的同构代理的情况，并且没有考虑干扰。本工作中的控制律基于内模原理和控制理论。一种动态补偿器是基于规则设计的输出反馈问题，其输出作为主控输入的反馈信号。同时，主控输入是基于内模原理设计的。结果表明，干扰对代理输出的影响最小化，跟踪误差满足性能。数值例子表明了所提出方法的有效性。