Bearing-Based Second-Order Multi-Agent Formation Control With Time-Varying Velocity Leaders and Disturbance Rejection

In this paper, the bearing-based second-order multi-agent formation control protocols with bounded time-varying disturbance and time-varying velocity leaders are studied, which can achieve the stability of bearing and the consistent stability of velocity and control input for all followers. Different from existing literatures, we design second-order distributed formation control protocols that consider both disturbance rejection and time-varying velocity leaders simultaneously, and the target formation includes the consistent stability of control input for all followers. Firstly, formation control protocols with time-varying velocity leaders are proposed by designing the local leader acceleration estimators; Secondly, by combining local leader acceleration estimator, the formation control protocols with static exponential convergence and dynamic prescribed-time convergence are proposed under the conditions that the upper bound of disturbance is known and leader's velocity is time-varying; Thirdly, by combining local leader acceleration estimator, adaptive variable structure control protocols for second-order multi-agent system are proposed under the conditions that the upper bound of disturbance is unknown and leader's velocity is time-varying; Furthermore, based on the sufficient conditions for collision avoidance among agents, the sufficient conditions for agents to avoid obstacle is presented. Finally, reasonable positive definite real symmetric matrixs are designed based on the control protocol form to demonstrate the system stability, and the effectiveness of the proposed control protocols are also verified through simulations.