Abstract
This paper investigates the adaptive guaranteed-performance formation control problems for second-order multi-agent systems. Firstly, an adaptive guaranteed-performance formation control protocol is proposed for second-order multi-agent systems, which can achieve fully distributed guaranteed-performance formation control. Then, an adaptive guaranteed-performance formation control criterion is presented in terms of Riccati inequalities and the guaranteed-performance cost is determined. Moreover, the approach of adjusting the formation control gain is proposed based on linear matrix inequalities. Finally, a numerical simulation is provided to demonstrate the effectiveness of theoretical results.
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