Control of formations under persistent disturbances

We study the distributed control of autonomous second order agents under persistent disturbances. We show that the usual averaging rule for convergence to formation is only able to reject constant disturbances that are identical for each agent. We also prove that using a distributed dynamic compensation law the system can be made to converge to formation under constant perturbations of the control input even when the perturbations are different for each agent. We illustrate the results with numerical simulations.