Robust Decentralized Formation Tracking Control of Complex Multiagent Systems

Table 1

Comparison of existing cooperative control methods.

References	Method	Nonlinear dynamics	Robustness		Finite time	Output constraint
			Modeling uncertainties	Matched disturbances
[22]	SMC	Yes	Yes	Yes	No	No
[38]	Lyapunov redesign approach	No	Yes	No	No	Yes
[34]	Terminal SMC	Yes	Yes	Yes	Yes	No
[40]	Backstepping and BLF	Yes	Yes	No	No	Yes
[8]	Neuro-fuzzy control and BLF	Yes	Yes	No	No	Yes
[36]	Neural network and SMC	Yes	Yes	Yes	Yes	No
This paper	Linear SMC and BLF	Yes	Yes	Yes	Yes	Yes