“…Third, MFAC can guarantee rigorous stability for a class of SISO and MIMO systems 29,30 . In addition, MFAC has substantial practical applications, like the MAS, 21,22 the chemical process, 31 power system, 32 even for image process in video surveillance, 33 etc. As far as the authors' knowledge goes, there is no research on the formation control for unknown MIMO nonlinear MAS with disturbance based on the MFAC method.…”