Adaptive surrounding control for linear multi-agent systems with unknown disturbance

This paper deals with the surrounding control problem of multi-agent systems with linear non-identical dynamics for each agent. In these dynamics, a non-identical time-varying term is considered for each agent. It is assumed that, there exist unknown parameter vectors in time-varying terms of the followers. First, an estimator is introduced to estimate the geometric center of the leaders and then, an adaptive law is proposed to compensate the unknown parameter vector of the followers. Using Lyapunov stability theory, the stability of the system with the proposed control law is studied. Finally, a simulation example is given to show the effectiveness of theoretical results.