Robust H∞ formation control for multi-agent systems with nonlinear dynamics and time-varying delay
Weixun Li, Zengqiang Chen, Zhongxin Liu, Qing Zhang · 2014
In this paper, the distributed robust H∞formation control problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is considered. Two different cases of coupling topologies: fixed topology and switching topology are analyzed. Considering the multi-agent systems with disturbances and uncertainty parameters, the formation control protocols are designed and analyzed. Some sufficient conditions are given to ensure the multi-agent systems can reach and maintain the desired formation with the given H∞performance. The simulation results illustrate the effectiveness of the main results.