Adaptive Affine Formation Maneuver Control of Second-Order Multi-Agent Systems with Disturbances

This paper studies adaptive affine formation maneuver control problem in the presence of external disturbances. The proposed control algorithm consists of a component for disturbances estimating and a component for formation tracking. To address the disturbances, an adaptive control strategy is designed for each follower to estimate external disturbances. Then, a formation control law is adopted to achieve desired formation maneuvers, such as translation, scaling and rotation with the external disturbances compensated. Sufficient conditions for stability of the proposed control algorithm are identified using Lyapunov method. Finally, simulations are presented to demonstrate the effectiveness of the theoretical results.