Time-Varying Formation Control With Transient Performance for Multiagent Systems Under Jointly Connected Topologies

In this letter, the robust $H_{\infty }$ time-varying formation control with transient performance is investigated for multiagent systems subject to external disturbances and directed jointly connected topologies. First, the novel distributed formation protocol is designed, which can not only adjust the relative position between agents but also extend the solution of formation function. Then, the formation problem is effectively simplified to robust asymptotically stability analysis by the Laplacian matrix decomposition method. Moreover, the feasibility of the time-varying formation control with transient performance is presented on the basis of the Cauchy convergence criterion and robust $H_{\infty }$ control analysis. Toward the end, the simulation example is taken up to show the validity of the proposed control technique.

I. Introduction

The cooperative control of multiagent systems has received considerable attention due to its wide application in recent years [1], [2], [3]. The formation control is one of the interesting research directions. Many excellent research results have been obtained [4], [5].