Leader–Follower Tracking in Nonlinear Multi-agent Systems via Different Velocity and Position Graph Topologies with External Disturbance

This paper proposes a novel distributed control algorithm for leader–follower tracking in nonlinear multi-agent systems via different velocity and position undirected graph topologies with external disturbance. Assuming that the disturbance is produced by linear exogenous systems, a disturbance observer without the position information based only on the velocity information of the agents is proposed. Next, graph theory, the Lyapunov approach and LaSalle’s principle are used to design a distributed control protocol for leader–follower tracking of MASs under different position and velocity undirected graphs with external disturbance. Finally, numerical simulations illustrate the efficacy of the proposed algorithms.