Adaptive H∞ Formation Control for Infinite-Dimensional Systems

Design methods of adaptive H infinity formation control of multi-agent systems composed of a class of infinite-dimensional systems are presented in this paper. The proposed control schemes are derived as solutions of certain H infinity control problems, where artificial error terms added to potential functions, and the effects of neglected infinite-dimensional modes are regarded as external disturbances to the processes. It is shown that the resulting control systems are robust to uncertain system parameters and that the desirable formations are achieved approximately via adaptation schemes.