Abstract

Guaranteed-cost formation problem for linear multi-agent systems with switching topologies is investigated. The guaranteed cost formation problem is transformed into a guaranteed cost control problem of an reduced-order switched systems equivalently by a linear transformation. Then, a necessary and sufficient condition for guaranteed cost formation is proposed. Moreover, based on an average dwell time scheme, a sufficient condition for the guaranteed cost formation of linear multi-agent system with switching topologies are presented in terms of linear matrix inequality techniques, and an upper bound of the guaranteed cost function is given. Finally, a numerical example is given to demonstrate the effectiveness of the theoretical results.

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