Adaptive H∞ formation control for Euler-Lagrange systems

Design methods of adaptive H_∞ formation control of multi-agent systems composed of Euler-Lagrange systems are presented in this paper. The proposed control schemes are derived as solutions of certain H_∞ control problems, where estimation errors of tuning parameters and error terms in potential functions 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 schemes.