Fully Distributed Extended-State-Observer Design for Time-Varying Formation Control of Multi-Agent System with Constant Input Delay

Main focus of this paper is to design an extended state observer (ESO) based fully distributed leaderless control protocol for time-varying formation of multi-agent system (MAS). A linear model of multi-agent system with constant input delay is considered. A predictor based adaptive observer is designed for each agent using the relative state information of the neighbouring agents, which compensate the input delay. A Lyapunov candidate function is presented for the stability analysis of proposed methodology and sufficient conditions are derived in terms of linear matrix inequality (LMI). Finally, a numerical example is presented to demostrate the effectivness of the proposed idea.