Yan, B.Shi, P.Lim, C.Wu, C.Shi, Z.2019-07-292019-07-292018IET Control Theory and Applications, 2018; 12(13):1853-18631751-86441751-8652http://hdl.handle.net/2440/120313In this study, an optimally distributed formation control approach is proposed for mixed-order multi-agent systems to achieve formation consistency with obstacle avoidance. The systems consist of unmanned aerial vehicles and ground robots. The authors present a formation consistency control for a mixed-order system under switching topologies. An optimally distributed method is developed by matrix transformation method and linear quadratic regulator theory, which leads to an optimisation on both horizontal and vertical control. For obstacle avoidance, a non-quadratic cost function is introduced based on optimal control. The resulting closed-loop mixed-order system is validated to be stable with an optimal performance. The formation consensus and obstacle avoidance are verified by simulations to show the effectiveness and potentials.en© The Institution of Engineering and Technology 2018Journal article003009542710.1049/iet-cta.2017.10860004418639000082-s2.0-85051570379405356Yan, B. [0000-0003-3945-3069]Shi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]Lim, C. [0000-0002-2463-9760]