Distributed H∞ Optimal Formation Recovery Control of Heterogeneous Euler-Lagrange Systems Subject to Network Switching and Diagnostic Imperfections

Abstract

This paper is concerned with the design of distributed formation recovery control laws for nonlinear Euler-Lagrange (EL) systems in presence of parameter uncertainty, external disturbances, and diagnostic information imperfections with switching communication network topologies. Specifically, H∞optimal control techniques are employed to formally design recovery controllers to accomplish state synchronization and trajectory tracking of a team of multi-agent nonlinear heterogeneous EL systems while the agents have access to only local information. Our proposed distributed state synchronization and tracking recovery control algorithms are input-to-state stable (ISS) where the input is considered to be parameter uncertainty as well as external disturbances. Our results are obtained for both fixed and switching communication network topologies.