LAUSR

In this article, a distributed robust control strategy is proposed for heterogeneous multiagent systems subject to uncertainties and disturbances to achieve time-varying formations under static and switching topologies. Without prior knowledge of global information on communication graphs, a distributed observer is developed to estimate the state information of a reference system. Internal model-based robust formation controllers for homogeneous disturbances, with and without unknown heterogeneous disturbances, are designed using the Riccati equation approach. Finally, a case study of bushfire edge tracking and patrolling is presented, and the effectiveness and robustness of the formation control developed strategy are verified by simulations.