Guaranteed cost formation control for multi-agent systems: Consensus approach

The idea of guaranteed cost control is introduced into formation control problems for multi-agent systems. Firstly, a guaranteed cost function for the guaranteed cost formation control problem is constructed. Secondly, by the using consensus algorithm, the guaranteed cost formation control problem is transformed to the guaranteed cost consensus problem. Thirdly, a sufficient condition for the guaranteed cost formation control problem is presented. Moreover, an upper bound of the guaranteed cost function is determined and an explicit expression of the formation center function is given. Finally, numerical simulations are presented to illustrate the effectiveness of theoretical results.