Abstract
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.
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