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This paper focuses on the consensus and formation problems of multiagentsystems under unknown persistent disturbances. Specifically, we propose a novelmethod that combines an existing consensus (or formation) algorithm with a newcontroller. The new controller has an integral action that produces a controlinput based on an error signal locally projected onto the column space of thegraph Laplacian. This action allows agents to achieve a consensus or apredetermined formation objective under constant or time-varying disturbances.This study has analyzed the stability properties of this architecture andprovides several illustrative examples to demonstrate the proposed approach.

Distributed Control of Multiagent Systems under Unknown Persistent Disturbances