Fully distributed event-triggered formation control for multi-agent systems with unknown disturbances

This article investigates the consensus-based formation control problem with unknown disturbances in multi-agent systems. We design node-based adaptive controllers via extended state observers and node-based event-triggered schemes, which can eliminate the effect of disturbances and avoid continuous communications. With the proposed controllers, we obtain that the formation errors are asymptotic to zero when the derivatives of disturbances belong to Script capital L2$$ {\mathcal{L}}_2 $$ space or are bounded by a small threshold when the derivatives of disturbances are bounded. Zeno behaviors and global information are also excluded. Numerical simulations validate the effectiveness of proposed approaches.