Adaptive H∞ Formation Control for a Swarm of Mobile Robots

Abstract

Design methods of adaptive H∞ formation control of multi-agent systems composed of mobile robots are presented in this paper. The proposed control schemes are derived as solutions of certain H∞ control problems, where estimation errors of tuning parameters and error terms in potential functions are regarded as external disturbances to the process. It is shown that the resulting control systems are robust to uncertain system parameters and that the desirable formations are achieved asymptotically via adaptation schemes.