Distance-Constrained Multi-agent Formation Sliding Mode Control Under External Disturbances

In response to the tracking control problem for multi-agent formation under external disturbances, this paper proposes a distributed flocking control method to improve the autonomy of each agent and the fault tolerance of the whole formation. Firstly, the agents adopt the same motion model, assuming that their communication topology forms an undirected simple graph. Based on the rigid graph formation control framework, the distance error is introduced to realize formation control. Predictive performance techniques are introduced to generate multi-agent formation with specified tracking performance to address the convergence speed issue of multi-agent formation. Considering the uncertain disturbance encountered by multiple agents in the environment and the unmodeled dynamics of the model itself, combined with the idea of active disturbance rejection, an active disturbance rejection sliding mode control algorithm based on distance constraint is designed to improve the anti-interference ability. Finally, the stability of the designed formation control system is proved based on Lyapunov theory, and the validity of the algorithm is verified through simulation.