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This paper considers the distributed leader-follower stress-matrix-basedaffine formation control problem of discrete-time linear multi-agent systemswith static and dynamic leaders. In leader-follower multi-agent formationcontrol, the aim is to drive a set of agents comprising leaders and followersto form any desired geometric pattern and simultaneously execute any requiredmanoeuvre by controlling only a few agents denoted as leaders. Existing worksin literature are mostly limited to the cases where the agents' inter-agentcommunications are either in the continuous-time settings or the sampled-datacases where the leaders are constrained to constant (or zero) velocities oraccelerations. Here, we relax these constraints and study the discrete-timecases where the leaders can have stationary or time-varying velocities. Wepropose control laws in the study of different situations and provide somesufficient conditions to guarantee the overall system stability. Simulationstudy is used to demonstrate the efficacy of our proposed control laws.

Discrete-Time Stress Matrix-Based Formation Control of General Linear Multi-Agent Systems