Distributed H∞ formation control for discrete-time multiagent systems

This paper investigates the formation control of discrete-time multi-agents systems with extern disturbance. The cases of directed fixed topology and switching topology are both considered. The protocols to ensure that the agents form the desired formation and track the virtual leader´s velocity with extern disturbance are designed. Based on Lyanunov stability theory, the sufficient conditions that the protocols´ parameters satisfy to ensure the error system´s stability with the desired H_∞ performance are presented. And it is proved that there always exist appreciate parameters satisfying the proposed sufficient conditions under desired topology condition. Finally, the simulation results illustrate the effectiveness of the designed protocols.