Guaranteed Cost Time-Varying Formation Control of Multiagent Systems Under an Output Disturbance Observer Approach

The paper addresses the guaranteed cost time-varying formation tracking control of multiagent systems with unknown external disturbance and coupling weights. To tackle disturbances produced by an exogenous system, an improved output disturbance observer is designed to enhance estimation accuracy. An edge-based adaptive controller is constructed to compensate this disturbance and realize the desired formation tracking. Based on Lyapunov stability, several sufficient criteria are established to guarantee feasible time-varying formation tracking of the closed-loop system within the prescribed cost. Finally, an example is simulated to demonstrate the effectiveness of the proposed approach.