Robust output formation control for uncertain multi-agent systems
Jintao Chen, Zongying Shi, Yisheng Zhong · International Journal of Systems Science · 2020
The robust output formation problems are considered for uncertain multi-agent systems. The dynamic of each agent is constructed by a nominal system combined with uncertainties and external disturbances. Based on the interaction topology among agents, a robust time-invariant formation controller is proposed. The designed controller consists of two parts: a nominal output feedback formation controller and a robust compensator. The nominal controller is designed to achieve the desired output formation, and the robust compensator is introduced to restrain the influence of the uncertainties and disturbances. An output formation feasible condition is proposed, and it is proven that the output formation error can be made arbitrarily small. Finally, a simulation example is provided to illustrate the obtained theoretical results.