Output feedback active anti-disturbance formation control algorithms
LI Gui-pu
QIAO Gui-fang
LIU Di
Abstract：This paper investigates formation control problem of higher-order multi-agent systems with both unknown states and mismatched disturbances.Using disturbances estimation(compensation)method and sliding-mode control,out-put feedback based active anti-disturbance formation control algorithms are proposed.When the agents states are known,generalized proportional integral observer is designed for each agent.Combining disturbances compensation with sliding mode control,state feedback based active anti-disturbance formation controllers are developed.The developed distributed controllers guarantee that the multi-agent systems achieve formation asymptotically.When the agents states are unknown,both the unknown states and the disturbances are estimated by constructing extended state observer.Combined with state feedback formation control design,output feedback based active anti-disturbance formation control algorithms are given.Under the output feedback based distributed control algorithms,the multi-agent systems realize formation asymptotically.Simulation results validate the effectiveness of the proposed formation control methods.
Keywords：multi-agent systemsdisturbancesformationoutput feedbackdisturbance compensation
Publication Date：2026-01-30
Online Publishing Date：2026-02-05(First online date of this platform, not the publication date of the document)
Pages：9( 183-191 )