Nonholonomic systems are widely used in robotics, military and civilian industries such as the control system of autonomous underwater vehicles and wheeled mobile robot controllers. These robots have nonlinear modeling with nonholonomic pfaffian constraints, and because their degree of freedom is greater than the number of system inputs, controlling them is a challenging task in nonlinear control theory. Also, due to the practical application of these systems in real environments, the presence of external disturbances cannot be ignored, and the effect of matched disturbances through the input channel, or the unmatched ones, should be considered. This study aims to control, a disturbed third-order chained form nonholonomic system by both matched and unmatched disturbances, and achieve consensus for a multiple of them. To this end, first, a nonlinear controller is proposed using sinusoidal functions, backstepping, and nonliniear control, nonholonomic systems, distributed control, adaptive super twisting control, multi-agent systems, matched and unmatched disturbance
