Time-Varying Formation for Second-Order Open Multi-Agent Systems with External Disturbances

Min Gong; Yuanqing Xia; Yuezu Lv

doi:10.1109/JAS.2025.125582

Time-Varying Formation for Second-Order Open Multi-Agent Systems with External Disturbances

Min Gong
, Yuanqing Xia^*
, Yuezu Lv

^*Corresponding author for this work

Beijing Institute of Technology
Zhongyuan University of Technology

Research output: Contribution to journal › Letter › peer-review

Abstract

Dear Editor, This letter addresses the formation problem of open multi-agent systems in the presence of disturbances. An extended state observer is developed for each agent to estimate the disturbance, and a consensus control protocol incorporating disturbance compensation is proposed. By analyzing the dynamics of the formation error during switching time instants, sufficient conditions on dwell time are derived to ensure uniformly ultimate boundedness of the formation error. The effectiveness of the proposed controller is demonstrated through both theoretical analysis and numerical simulations.

Original language	English
Pages (from-to)	1524-1526
Number of pages	3
Journal	IEEE/CAA Journal of Automatica Sinica
Volume	13
Issue number	6
DOIs	https://doi.org/10.1109/JAS.2025.125582
Publication status	Published - 1 Jun 2026
Externally published	Yes

Access to Document

10.1109/JAS.2025.125582

Cite this

@article{78dd76c8716a4254af91c7469cc0cfd5,

title = "Time-Varying Formation for Second-Order Open Multi-Agent Systems with External Disturbances",

abstract = "Dear Editor, This letter addresses the formation problem of open multi-agent systems in the presence of disturbances. An extended state observer is developed for each agent to estimate the disturbance, and a consensus control protocol incorporating disturbance compensation is proposed. By analyzing the dynamics of the formation error during switching time instants, sufficient conditions on dwell time are derived to ensure uniformly ultimate boundedness of the formation error. The effectiveness of the proposed controller is demonstrated through both theoretical analysis and numerical simulations.",

author = "Min Gong and Yuanqing Xia and Yuezu Lv",

note = "Publisher Copyright: {\textcopyright} 2014 Chinese Association of Automation.",

year = "2026",

month = jun,

day = "1",

doi = "10.1109/JAS.2025.125582",

language = "English",

volume = "13",

pages = "1524--1526",

journal = "IEEE/CAA Journal of Automatica Sinica",

issn = "2329-9266",

publisher = "IEEE Advancing Technology for Humanity",

number = "6",

}

TY - JOUR

T1 - Time-Varying Formation for Second-Order Open Multi-Agent Systems with External Disturbances

AU - Gong, Min

AU - Xia, Yuanqing

AU - Lv, Yuezu

PY - 2026/6/1

Y1 - 2026/6/1

N2 - Dear Editor, This letter addresses the formation problem of open multi-agent systems in the presence of disturbances. An extended state observer is developed for each agent to estimate the disturbance, and a consensus control protocol incorporating disturbance compensation is proposed. By analyzing the dynamics of the formation error during switching time instants, sufficient conditions on dwell time are derived to ensure uniformly ultimate boundedness of the formation error. The effectiveness of the proposed controller is demonstrated through both theoretical analysis and numerical simulations.

AB - Dear Editor, This letter addresses the formation problem of open multi-agent systems in the presence of disturbances. An extended state observer is developed for each agent to estimate the disturbance, and a consensus control protocol incorporating disturbance compensation is proposed. By analyzing the dynamics of the formation error during switching time instants, sufficient conditions on dwell time are derived to ensure uniformly ultimate boundedness of the formation error. The effectiveness of the proposed controller is demonstrated through both theoretical analysis and numerical simulations.

UR - https://www.scopus.com/pages/publications/105043993785

U2 - 10.1109/JAS.2025.125582

DO - 10.1109/JAS.2025.125582

M3 - Letter

AN - SCOPUS:105043993785

SN - 2329-9266

VL - 13

SP - 1524

EP - 1526

JO - IEEE/CAA Journal of Automatica Sinica

JF - IEEE/CAA Journal of Automatica Sinica

IS - 6

ER -

Time-Varying Formation for Second-Order Open Multi-Agent Systems with External Disturbances

Abstract

Access to Document

Other files and links

Fingerprint

Cite this