Robust time-varying formation design for multi-agent systems with disturbances: Extended-state-observer method

TL;DR

This paper develops a robust formation control method for multi-agent systems with disturbances using an extended state observer, ensuring accurate formation tracking and robustness through algebraic Riccati equations.

Contribution

It introduces a novel robust formation control protocol with disturbance compensation based on an extended state observer and algebraic Riccati equations.

Findings

Effective disturbance compensation improves formation accuracy.

The proposed method enhances robustness against external disturbances.

Numerical simulations confirm theoretical effectiveness.

Abstract

Robust time-varying formation design problems for second-order multi-agent systems subjected to external disturbances are investigated. Firstly, by constructing an extended state observer, the disturbance compensation is estimated, which is a critical term in the proposed robust time-varying formation control protocol. Then, an explicit expression of the formation center function is determined and impacts of disturbance compensations on the formation center function are presented. With the formation feasibility conditions, robust time-varying formation design criteria are derived to determine the gain matrix of the formation control protocol by utilizing the algebraic Riccati equation technique. Furthermore, the tracking performance and the robustness property of multi-agent systems are analyzed. Finally, the numerical simulation is provided to illustrate the effectiveness of theoretical results.