Formation Control for High-Order Multi-agent Systems with Unknown Dynamics

A novel formation control approach is provided for a class of high-order multi-agent systems (MASs) subject to unknown dynamics via active disturbance rejection control (ADRC). First, the formation control problem is converted into the stability problem under the connected topology structure assumption. Then, the unknown dynamics is observed by the designed extended state observer (ESO) and compensated realtime. It is shown that the predefined time-varying formation function is achieved rapidly and stably under the distributed controller using only local neighbor information for each agent. Finally, numerical examples are presented to demonstrate the effectiveness of the theoretical results.