Active disturbance rejection time-varying formation control for multi-agent systems with disturbances

摘要

The current paper investigates the active disturbance rejection time-varying formation control for second-order multi-agent systems subjected to external disturbances. Firstly, a robust time-varying formation control protocol with the disturbance compensation is proposed. Then, an extended state observer is designed to estimate the disturbance compensation by the active disturbance rejection control method. Moreover, sufficient conditions for robust time-varying formation feasibility analysis and protocol design are shown, respectively. Finally, a numerical simulation is presented to verify the theoretical results.