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| Flocking Motion and Speed Synchronization of Multi-Agent System with Disturbance |
| CHU Fufang, YANG Hongyong
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| School of Information and Electrical Engineering, Ludong University, Yantai 264025,China |
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Abstract For second-order multi-agent system with disturbance, a distributed control protocol with individual local information is proposed, and the sufficient condition is obtained to ensure the flocking motion and the speed synchronization when multi-agent system is disturbed by outside world. First, we design a disturbance observer for each agent, then, a distributed control protocol based on disturbance observer is presented. The protocol can guarantee multi-agent system achieve flocking motion and synchronous speed. Finally, simulation results show the validity of the conclusion.
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Received: 28 October 2013
Published: 22 June 2026
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