Robust Decentralized Formation Tracking Control of Complex Multiagent Systems

Table 2

Controller parameters.

Control parameter	Selection criteria	Description
	Positive real value, i.e.,	Tuning parameter that varies the reaching time of the controller
	Positive real value, i.e.,	Tuning parameter that varies the sliding time of the controller
	Positive real value specified by the user	The upper bound on the disturbance
	Positive real value specified by the user	The bound on the output of each agent that eventually transforms into used in the controller
	Positive real value specified by the user	The acceptable error margin