Formation Control for Multi-Agent System with Disturbances Compensation

This paper considers the formation control of single-integrator modeled agents with unknown disturbances. Two cases are investigated. In the first case, the connected agents are assumed to be able to measure relative displacements between each other. The control law for this case is designed to ensure a stable formation with a predefined rejection performance for disturbances. In the second case, additionally, one agent is assumed to be able to sense its position in a global coordinate system. The control law for this case is designed to ensure the stability of agents' positions with respect to predefined desired positions. Also, a rejection performance for disturbances is ensured. Simulation results are provided to support the theoretical analysis for the proposed control algorithms.