Bipartite Formation Control for Linear Multi-agent Systems with External Disturbances via Observer-Based Output Feedback

This article investigates the problem of bipartite formation control for a class of multi-agent systems composed of two sub-formations with an inverse connection. A distributed control algorithm with observer-based output feedback is proposed under directed signed topology and unknown external disturbances. Some sufficient conditions are established to achieve a bipartite time-varying formation with bounded tracking error. Furthermore, it is shown that the suggested observer-based formation control has good robustness. Finally, a simulation example is illustrated to show the feasibility and effectiveness of the presented control scheme.