Formation control for second-order nonlinear multi-agent systems with external disturbances via adaptive method

This study examines the leader-following formation control problem for a particular class of nonlinear multi-agent systems with external disturbances. First of all, the system’s external disturbance is compensated for by the disturbance observer. Second, the adaptive technique is used to provide a completely distributed control protocol. It is demonstrated that the distributed control protocol is capable of achieving system formation control by choosing the suitable parameters. Then the validity of the protocol is verified using a simulated example.