Robust Group Formation Tracking Control for Nonlinear Multiagent Systems

The issue of time-varying group formation tracking control for heterogeneous nonlinear multiagent systems (MASs) with unknown dynamics is studied in the framework of high-order fully actuated system approaches. To achieve the desired group formation tracking, a distributed robust control protocol is designed. The protocol consists of two components: The first is that the nonlinearities of MASs are eliminated by state feedback and the poles are configured in the light of performance requirements; the second is that robust control strategy is employed to compensate for uncertainties. Based on Lyapunov stability theory, the sufficient condition to achieve group formation tracking under the proposed control protocol is provided and proved. Simulation result illustrates the effectiveness of the theoretical result.