Robust formation control of a class of multi-agent systems by output regulation approach

In this paper, we study the robust formation control problem of a class of multi-agent systems based on the generalized internal model principle. We show that this problem finally boils down to a robust stabilization problem of a nonlinear system, the solution of which can be solved by using the existing robust stabilization technique. The efficiency of the proposed design method is verified by one typical formation control problem of multi-agent systems.