Abstract

Main focus of this paper is to design an extended state observer (ESO) based fully distributed leaderless control protocol for time-varying formation of multi-agent system (MAS). A linear model of multi-agent system with constant input delay is considered. A predictor based adaptive observer is designed for each agent using the relative state information of the neighbouring agents, which compensate the input delay. A Lyapunov candidate function is presented for the stability analysis of proposed methodology and sufficient conditions are derived in terms of linear matrix inequality (LMI). Finally, a numerical example is presented to demostrate the effectivness of the proposed idea.

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