Active Disturbance Rejection Formation Control for Multiagent Systems With Input Constraints

This article deals with the formation control of multiagent systems (MASs) subject to disturbances and input constraints, and an active disturbance rejection formation control (ADRFC) approach based on distributed observation is proposed. First, the states and disturbances of tracking error systems are estimated by a distributed intermediate estimator (DIE). Second, an improved distributed model-predictive control (IDMPC) is proposed to achieve the formation control of MASs under disturbances and input constraints. Then, the robust ADRFC method is designed by combining the DIE and IDMPC, and the stability of the whole system is analyzed. Finally, experiments are conducted on an MAS consisting of four mobile robots to illustrate the effectiveness and superiority of the proposed method.