Velocity alignment for multiple agents based on topological distance with external disturbances

This paper studies a multi-agent system consisting of mobile robots with second-order dynamics and assumes topological distance for velocity alignment problem. This problem is investigated for directed networks of agents in the presence of external disturbances with fixed and switching topologies. A set of sufficient conditions are proposed to guarantee the velocity alignment with the desired H_∞ performance. Also, the simulation shows that whit the proposed algorithm a group of robots can form a cohesive flock even with the existence of external disturbance.