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This paper presents a unified framework of time-varying formation (TVF)design for general linear multi-agent systems (MAS) based on an observerviewpoint from undirected to directed topology, from stabilization to trackingand from a leader without input to a one with bounded input. The followers canform a TVF shape which is specified by piecewise continuously differentialvectors. The leader's trajectory, which is available to only a subset offollowers, is also time-varying. For the undirected formation tracking anddirected formation stabilization cases, only the relative output measurementsof neighbors are required to design control protocols; for the directedformation tracking case, the agents need to be introspective (i.e. agents havepartial knowledge of their own states) and the output measurements arerequired. Furthermore, considering the real applications, the leader withbounded input case is studied. One main contribution of this paper is thatfully distributed adaptive output protocols, which require no globalinformation of communication topology and do not need the absolute or relativestate information, are proposed to solve the TVF control problem. Numericalsimulations including an application to nonholonomic mobile vehicles areprovided to verify the theoretical results.

A unified framework of fully distributed adaptive output time-varying formation control for linear multi-agent systems: an observer viewpoint