Vortex Formation Control for Linear Multiagent Systems With Unknown Leader Input and External Disturbances

This brief investigates vortex formation control problem for linear multiagent systems with unknown leader input and external disturbances. This brief proposes a distributed control protocol with antisymmetric matrix which can adjust the interaction between agents to realize the vortex formation of multiagent system. Each agent only communicates with their neighbor agents through the communication topology without requiring the whole system to be fully connected, which makes the control protocol more suitable for large-scale systems. The unknown bounded external disturbance and the input information of leader that may be encountered in practical application are considered in the protocol design. A control term related to the symbolic function is introduced to deal with bounded external disturbances and unknown leader input signal, which can deal with more complex external environment and uncooperative leader in practical applications. Finally, a numerical example is presented to verify the proposed protocol.