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

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.