Time‐varying anti‐disturbance formation control for high‐order non‐linear multi‐agent systems with switching directed topologies
Chaoyang Dong, Wenqiang Zhang, Qing Wang, Yuang Liu · IET Control Theory and Applications · 2019
This study considers the time‐varying anti‐disturbance formation control problem for a class of high‐order uncertain non‐linear multi‐agent systems with switching directed topologies. A distributed extended state observer (ESO) is constructed to estimate the unknown non‐linear dynamics and external disturbances for each agent during the time‐varying formation process. Based on the ESO, a novel ESO‐based formation protocol is proposed and an algorithm to specify the protocol is derived. The feasibility conditions for the realisation of the anti‐disturbance formation under the protocol are also demonstrated. It is rigorously proved that if the feasibility conditions are satisfied and the protocol is designed in the proposed form, the time‐varying anti‐disturbance formation can be achieved by the high‐order uncertain non‐linear multi‐agent systems with switching directed topologies. The effectiveness and innovations of theoretical results are finally illustrated by some numerical simulations.