The H∞ Distributed Formation and Tracking Control for High-order Multi-agent Systems

The H
_∞
distributed formation and tracking control for high-order multi-agent systems is investigated in this paper. Assuming that the multi-agent network is directed, considering the extern distance, the distributed formation and tracking control protocols are both designed for the cases of no delay and constant time delay. By transformation, the formation and tracking problems are transformed into the stability problem of error systems. Then by using Lyapunov theory, the sufficient conditions of error system's stability are presented in the form of LMIs. Finally, the simulation results prove the effectiveness of designed protocols.