Distributed Velocity Observer-Based Formation Tracking Control for Second-Order Multi-Agent with External Disturbance

In this study, a bearing-based formation control for formation tracking objective of second-order multi-agent system with external disturbance was proposed. First of all, a distributed velocity observer was proposed to obtain the desired velocity, which can handle the problem that some followers have no access to the leader velocity. Combining with the backstepping approach and disturbance observer, a bearing-based formation tracking controller was proposed for the second-order multi-agent with external disturbance. Moreover, the stability of the close-loop control system was rigorously proved by Lyapunov method. Finally, the simulation experiments illustrate the effectiveness of the proposed control method.