Flocking Motion of Second-Order Multi-agent Systems with Mismatched Disturbances

  • Fan Liu
  • Hongyong YangEmail author
  • Yize Yang
  • Yuling Li
  • Yuanshan Liu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


Based on the problem of flocking for second-order multi-agent systems with mismatched disturbances, a distributed control algorithm with individual local information is investigated. For each agent, a disturbance observer is designed. And then based on disturbance observer, a distributed control protocol with feed-forward compensation term is proposed. By using Lyapunov stability and input to state stability theory, it proves that the distributed control law enables to make all agents eventually converge to the leader’s velocity when at least one agent can receive the leader’s information. Finally, a numerical simulation example illustrates the effectiveness of the conclusion.


Distributed control Flocking motion Mismatched disturbances Disturbance observer Weak connectivity 



This paper is supported by the National Natural Science Foundation of China (61673200, 61771231, 61471185), Natural Science Foundation of Shandong Province (ZR2018ZC0438, ZR2017MF010, ZR2017PF010) and the Key R&D Program of Yantai City (2016ZH061)


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Fan Liu
    • 1
  • Hongyong Yang
    • 1
    Email author
  • Yize Yang
    • 2
  • Yuling Li
    • 1
  • Yuanshan Liu
    • 1
  1. 1.School of Information and Electrical EngineeringLudong UniversityYantaiChina
  2. 2.School of Electrical Engineering and TelecommunicationsUniversity of New South WalesSydneyAustralia

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