In recent years multi agent system with uncertainty have been focus of different researches. The uncertainty in model may come from different reasons such as unknown model parameters due to immeasurable or inaccessible the exact model. Also, there are many benefits in using multi agent systems. One benefit of using these systems is substitution multi simple devices with a complicated one. This advantage makes multi agent systems more scalable and reliable. Multi agent systems have found many applications in variety of topics including traortation, automated highway systems, micro satellite and surveillance. These applications may cause of nonlinear interactions between agents. For example, in load traortation by a multi agent system either the physical connection between load and agents are cause of dynamical coupling, or the load weight changing can cause of uncertainty. The goal of this thesis is to design a distributed formation tracking control of a target for multi agent system with nonlinear interactions. Firstly a load traortation by a multi agent system is modelled as an example of multi agent system with nonlinear interactions. Then by considering the obtained model the known and unknown information has been specified. By considering the unknown nonlinear interactions in model of each agent, sliding mode control approach as a robust controller is employed to design a distributed controllers. Controllers are designed based on two approaches: sliding mode and integral sliding mode control. Each of designed controllers need different information. Then, due to some weakness of ltr" keyword: Robust Control, Non-linear Systems, Sliding mode control, Load Traortation Modelling
