Formation control for nonlinear multi-agent systems with linear extended state observer

This paper investigates the formation control problem for nonlinear multi-agent systems with a virtual leader. A distributed formation control strategy based on linear extended state observer (LESO) is proposed under the hypothesis that velocity of the agent´s neighbors could not be measured. Some sufficient conditions are established to ensure that the nonlinear multi-agent systems form a predefined formation with switching topology when the nonlinear function is known. Moreover, the tracking errors are bounded with external disturbance. Lastly, a numerical example with different scenarios is presented to demonstrate the validity of the obtained results.