Robust Guaranteed Cost Formation Control for Multi-agent Systems with Uncertain Topologies

This paper investigates a robust guaranteed cost formation problem for a class of continuous-time linear high-order multi-agent systems with uncertain communication topology which is modeled by directed graph. Firstly, the robust guaranteed cost formation problem is transformed into a robust guaranteed cost control problem of an auxiliary uncertain system by a linear transformation. Secondly, a sufficient condition for the robust guaranteed cost formation control problem is presented in terms of linear matrix inequality techniques, and an upper bound of the guaranteed cost function is given. Finally, a numerical example is shown to demonstrate the effectiveness of the theoretical results.