Angle-constrained distributed formation control with disturbance rejection
Cheng Peng, Jie Huang · Automatica · 2025
The problem of angle-constrained distributed formation control was studied recently for double integrator systems . In this paper, we further study the problem of angle-constrained distributed formation control with disturbance rejection for double integrator systems. The disturbances are in the class of trigonometric polynomial with arbitrary unknown amplitudes, unknown initial phases, and unknown frequencies, which contain unknown arbitrary constant disturbance as a special case. We develop a distributed control law that combines the adaptive control technique and the internal model and show that, under the standard assumptions, the control law achieves the desired formation in the presence of persistent disturbances. Moreover, we show that the proposed control law is independent of the global coordinate frame . Numerical examples are used to illustrate our design.