Formation Control via Linear Quadratic Differential Game with Model Uncertainties and Unknown Disturbances

This paper addresses a linear quadratic differential game approach for leaderless formation control of multi-agent system with agents suffering from the model uncertainties and the unknown external disturbances. The external disturbance is viewed as a fictitious player attempting to maximize the cost functions of agents. Due to the bounded uncertainties of the model, the guaranteeing cost strategies for agents are given on the basis of the worst-case disturbance. A set of coupled Riccati differential equations is solved to achieve the desired formation. Finally, a simulation example of triangle formation is provided to verify the feasibility of the proposed scheme.