Affine Formation Obstacle Avoidance Control for Multi‐Agent Systems Under an Improved Disturbance Observer

ABSTRACT The paper addresses affine formation obstacle avoidance control of multi‐agent systems (MASs) with unknown external disturbances. An improved disturbance observer is developed to enhance the estimation accuracy. An affine transformation and an adaptive controller are exploited to dynamically adjust formation against unknown obstructed environments. Sufficient criteria are established to achieve obstacle avoidance with zero velocity, constant velocity, and time‐varying velocity, respectively. Finally, two examples are simulated to deliver the effectiveness of the proposed control schemes.