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In this paper, a decentralized adaptive control scheme for multi-agent formation control is proposed. This control method is based on artificial potential functions integrated with adaptive fuzzy H∞ technique. We consider fully actuated mobile agents with partially unknown models, where an adaptive fuzzy logic system is used to approximate the unknown system dynamics. The H∞ control theory is used to attenuate the adaptive fuzzy approximation error to a prescribed level. Therefore the agents motion is forced to obey the dynamics defined by the simple inter-agent artificial potential functions. Stability proof is given using Lyapunov functions, which shows the robust behavior of controller with respect to disturbances and system uncertainties. Finally, simulation results are demonstrated for a multi-agent formation problem of a group of six agents, illustrating the effective attenuation of fuzzy logic approximation error.