Formation Tracking for Linear Multiagent Systems Based on Adaptive Disturbance Observer

This paper investigates the leader-follower formation tracking problem of linear multiagent systems with unknown external disturbances. To deal with the unknown disturbances, an adaptive observer is proposed for each follower. Then, a formation tracking protocol is proposed by utilizing the disturbances and states obtained from adaptive observers. Based on the Lyapunov analysis, the asymptotical convergence of the state error is rigorously proved. Different from some existing anti-disturbance consensus approaches, the adaptive disturbance observer is completely decoupled from formation control. Finally, simulations are provided to show the effectiveness of the theoretical research.