Time-Varying Formation Tracking of Uncertain Nonaffine Nonlinear Multiagent Systems With Communication Delays

This article addresses the time-varying formation tracking issue for a class of uncertain nonaffine nonlinear multiagent systems (MASs) with communication delays. The agents are connected though a directed topology, and the nonaffine problem is transformed into an affine problem using the idea of active disturbance rejection control. The uncertainties of individual followers in the MAS are approximated via the extended state observers and are compensated in real time. Tracking differentiators are introduced to overcome the explosion of complexity in the derivatives of the desired signal and the virtual control variables. Local information from neighboring followers are utilized, and the Lyapunov-Krasovskii function is employed to analyze the stability theoretically. Finally, simulation examples are provided to demonstrate the effectiveness of the proposed control strategy.