Robust flocking of multiple intelligent agents with multiple disturbances

The cooperation control of multiple intelligent agents (MIAs), which can solve complex engineering problems in practice, has received increasing attention. However, there are multiple disturbances in wireless sensor networks, which has a great effect on the collaboration of MIAs. In this paper, the problem of the flocking motion of second-order MIAs is addressed with collision avoidance and multiple disturbances. To estimate the matched/mismatched disturbances, the disturbance observers are designed. It is noted that the assumption that the differentials of disturbances converge to zeros in the literature is removed. A novel compound strategy is designed by using the robust auxiliary function and the potential function. The asymptotic properties of the flocking system are studied based on the Input-to-State Stability Theorem and the robust stability. Numerical simulation results verify the validity of the proposed protocol.