Robust observer-based leader-following consensus for a class of nonlinear multi-agent systems: application to UAV formation control

This paper presents the design of a robust observer-based control for a class of nonlinear multi-agent systems. The leader-following consensus problem is solved in order for all the agents to follow the trajectory of a virtual leader in spite of a nonlinear input which depends on the local and neighboring agents. The main contribution of this paper is to guarantee the stability and robustness of the estimated states and the synchronization error for each agent. Linear matrix inequality (LMI)-based sufficient conditions are obtained for computing the controller and observer gains. The effectiveness of the proposed approach is shown considering a formation control problem in a fleet of unmanned aerial vehicles under a simulation setting.