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A robust controller which consists of a nominal controller and a robust compensator is applied to achieve formation control. The nominal controller based on the output feedback is designed to achieve desired time-varying formation properties for the nominal system. And the robust compensator based on the robust signal compensator technology is constructed to restrain nonlinear uncertainties. The time-varying formation problem is transformed into the stability problem. And the formation errors can be arbitrarily small with expected convergence rate. Numerical examples are provided to illustrate the effectiveness of the proposed strategy.<\/jats:p>","DOI":"10.1155\/2020\/2069170","type":"journal-article","created":{"date-parts":[[2020,4,10]],"date-time":"2020-04-10T23:32:36Z","timestamp":1586561556000},"page":"1-13","source":"Crossref","is-referenced-by-count":2,"title":["Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9935-8798","authenticated-orcid":true,"given":"Xiaofeng","family":"Chai","sequence":"first","affiliation":[{"name":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China"}]},{"given":"Qing","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology, Beijing 100081, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2619-2843","authenticated-orcid":true,"given":"Yao","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China"}]},{"given":"Changyin","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Automation, Southeast University, Nanjing 210096, China"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/lcomm.2014.2344033"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.01.014"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/8481060"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2018.10.040"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.4599"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2018.2876334"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2017.08.012"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1847"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/5452723"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2019.2957069"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2014.11.013"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.10.022"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1023\/a:1008814708459"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1109\/70.736776"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1142\/s2301385018400101"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1016\/j.physa.2011.06.045"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1142\/s2301385019400016"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/jproc.2006.887293"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1080\/00207720902974603"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2005.02.004"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1109\/tcns.2014.2337972"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2004.834433"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1109\/lcsys.2018.2814071"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2014.11.047"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2010.0429"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-013-0754-6"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2011.10.011"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0160-4"},{"year":"1974","key":"31"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2005.846556"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.06.041"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2006.883029"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/2069170.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/2069170.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/2069170.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,4,10]],"date-time":"2020-04-10T23:32:39Z","timestamp":1586561559000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/complexity\/2020\/2069170\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4,10]]},"references-count":32,"alternative-id":["2069170","2069170"],"URL":"https:\/\/doi.org\/10.1155\/2020\/2069170","relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"type":"print","value":"1076-2787"},{"type":"electronic","value":"1099-0526"}],"subject":[],"published":{"date-parts":[[2020,4,10]]}}}