Coordination of Multi-Agent Systems under Switching Topologies via   Disturbance Observer Based Approach
  In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may disrupt the performance of agents, a disturbance observer based approach is employed to estimate and reject them. Varying communication topologies are also taken into consideration, and their byproduct difficulties are overcome by using common Lyapunov function techniques. According to the available information in difference cases, two disturbance observer based protocols are proposed to solve this problem. Their effectiveness is verified by simulations. 
Yutao Tang
math.OC cs.SY