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Formation control with disturbance rejection for a class of Lipschitz nonlinear systems


In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

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This work was supported by National Natural Science Foundation of China (Grant No. 61673034) and China Scholarship Council (CSC).

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Correspondence to Zhengtao Ding.

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Wang, C., Zuo, Z., Gong, Q. et al. Formation control with disturbance rejection for a class of Lipschitz nonlinear systems. Sci. China Inf. Sci. 60, 070202 (2017). https://doi.org/10.1007/s11432-016-9125-2

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  • multi-agent systems
  • formation control
  • Lipschitz nonlinearity
  • disturbance rejection