Abstract:This paper explores finite-time formation control of multi-agent systems (MASs) with high-order nonaffine nonlinear dynamics and saturated input. Based on active disturbance rejection control theory, extended state observer is employed to identify unknown nonaffine nonlinear functions in MASs. The proposed control law consisting of backstepping control, tracking differentiator, and finite-time performance function is adopted for MASs to achieve the desired formation while reaching performance requirements. An … Show more
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