In this letter, we study distance-based formation control of single- and double-integrator modeled agents with unknown bounded disturbances. We propose distributed control laws to simultaneously achieve the desired formation shape and eliminate the effects of disturbances. The stability of the systems under the proposed control laws is analyzed based on Lyapunov stability theory of nonsmooth systems and Barbalat's lemma. Further, sufficient conditions are given to ensure the system to approach the set of desired formation. Finally, simulation results are provided to support the analysis.
No takes yet. Share an insight, caveat, or question.
Vu et al. (2020) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: