Practical time-varying formation tracking for high-order nonlinear multi-agent systems based on the distributed extended state observer

Jianglong Yu, Xiwang Dong, Qingdong Li, Zhang Ren. Practical time-varying formation tracking for high-order nonlinear multi-agent systems based on the distributed extended state observer. Int. J. Control, 92(10):2451-2462, 2019. [doi]

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