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January 22, 2026International Journal of Robust and Nonlinear Control0 citations

Affine Formation Obstacle Avoidance Control for Multi‐Agent Systems Under an Improved Disturbance Observer

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WQWen QinMSMouquan ShenHKHamid Reza Karimi

Key Points

  • The aim is to improve obstacle avoidance in multi-agent systems using an enhanced disturbance observer.
  • Develop an improved disturbance observer for better estimation of disturbances.
  • Utilize affine transformations and adaptive controllers to adjust formations.
  • Establish criteria for achieving zero, constant, and time-varying velocity during obstacle avoidance.
  • Demonstrated enhanced estimation accuracy with the improved disturbance observer.
  • Successfully achieved obstacle avoidance under various velocity conditions through simulations.

Abstract

ABSTRACT The paper addresses affine formation obstacle avoidance control of multi‐agent systems (MASs) with unknown external disturbances. An improved disturbance observer is developed to enhance the estimation accuracy. An affine transformation and an adaptive controller are exploited to dynamically adjust formation against unknown obstructed environments. Sufficient criteria are established to achieve obstacle avoidance with zero velocity, constant velocity, and time‐varying velocity, respectively. Finally, two examples are simulated to deliver the effectiveness of the proposed control schemes.

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Cite This Study

Qin et al. (2026) studied this question.

synapsesocial.com/papers/6971bdec642b1836717e2966https://doi.org/10.1002/rnc.70398
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