Active disturbance rejection formation control for multi-agent systems with multiple leaders

Abstract

An active disturbance rejection formation tracking problem is studied herein. Aiming at the time-varying formation tracking problem with external disturbance, a distributed control strategy of formation tracking based on extended state observer is presented. Considering the unknown state and external disturbance of single agent, a special extended state observer is produced which uses the output of neighbors. Subsequently, the extended state observer output–based formation protocol is designed to implement a predetermined formation. In addition, the necessary and sufficient condition of formation tracking control is obtained by taking full advantage of matrix transformation and Lyapunov theory. In the end, there are three simulation instances to verify the validity and feasibility of this method, which is mentioned in this article.