Robust distributed formation control with prescribed performance for nonlinear multi‐agent systems subjected to compound disturbances

Summary This article is concerned with the distributed leader‐following formation control for nonlinear multi‐agent systems (MASs) subject to compound disturbances. Three aspects of objective: control, collision avoidance and connectivity preservation are achieved by designed controller composed three laws. The law developed based on barrier Lyapunov function backstepping method, which can prescribe performance close‐loop system some extent. Within our scheme, an adaptive finite‐time disturbance observer used enhance robustness against disturbances including parameter perturbations, actuator bias faults external Meanwhile, a tracking differentiator introduced each follower cancel complex differential calculations requirement leader's acceleration information. Furthermore, auxiliary laws artificial potential field plays important role during shaping. Finally, complete stability analysis vivid numerical simulation carried out.