Robust formation tracking for uncertain multi‐agent systems with unknown leader input

Abstract

This study investigates the robust formation tracking problems for uncertain multi-agent systems(MASs). The leader is assumed to be linear case and the dynamics of the followers can be modelled as a high-order linear system with heterogeneous uncertainties and external disturbances. Only part of the followers can get the states of the leader and the control input of the leader cannot be obtained by any followers. Based on the relative information among agents, robust formation tracking protocols are proposed to achieve the desired formation tracking. It can be proven that the formation tracking error can be made arbitrarily small if the formation tracking feasibility condition holds. Finally, a simulation example is provided to illustrate the obtained theoretical results.