Model Reference Adaptive Formation Control Based on H∞ Control Criterion

Model reference adaptive formation control of multi-agent systems composed of unknown linear processes is presented based on H∞ control criterion. This is the first attempt to solve the formation control problem from the view point of model reference adaptive control by output feedbacks. The proposed control schemes are derived as solutions of certain H∞ control problems, where estimation errors of tuning parameters 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 mechanisms.