Circle Formation Control of Second-order Multi-agent Systems with Unknown Bounded Disturbance and Velocity Constraints

In this paper, the formation control problem of second-order multi-agent systems with unknown bounded disturbances and speed constraints is studied. A distributed formation control law is proposed. Under this control law, the angular distance between adjacent agents is finally maintained in the neighborhood of the desired angular distance, and multiple agents do not collide with each other during the movement and meet the requirements of speed constraints. Due to the existence of unknown disturbances, agents usually cannot achieve a predetermined formation. Thus, the upper bound of the formation error of all agents is given when the time tends to infinity. The simulation verifies the performance of the proposed control law.