Robust $H_{\infty}$ Formation Control for Multi-agent Systems with Time-varying Delays

This paper mainly studied the H∞ formation control of multi-agent system with external disturbances and time delays. For the second-order multi-agent system, the distributed formation control protocol is designed, and used the Lyapunov stability theory to analyze the sufficient conditions for the given system to achieve asymptotic stability by the method of linear matrix inequality, so that the multi-agent system can achieve the desired formation and speed of the agent, and also can meet the H∞ performance index. Finally, a simulation example is used to verify the validity of the conclusion.