Distributed estimation and control for nonlinear multi-agent systems in the presence of input delay or external disturbances

This paper establishes some distributed algorithms for nonlinear multi-agent systems to solve tracking control (TC) problem subject to external disturbances or delay. First, a distributed controller is introduced based on a distributed observer for the nodes to estimate and follow a nonlinear target. Then, utilizing a future predictor (FP) and an external disturbance observer, the proposed controller is developed for each agent with delay or disturbances to deal with TC problem. Stability of the control laws and FP is also analyzed and sufficient conditions are proposed for the TC of the multi-agent systems (MASs). Simulation examples validate the efficiency of the presented methods. •Distributed algorithms are proposed for nonlinear multi-agent systems.•Tracking control problem is solved in the presence of external disturbances.•The results are developed for multi-agent systems with input delay.•A future state predictor (FSP) and an external disturbance estimator are proposed.•Stability analysis of the control laws and FSP are also carried out.