Formation control for multi-vehicle system using adaptive control method

In this paper, an adaptive control method for formation control problem is considered. We assume that there exist an uncertainty in the information exchange between an agent and all of its neighbors on the network. We regard that the uncertainty in the information exchange can be described by the perturbation of the elements of adjacent matrix. Our proposed method can estimate the perturbation of the elements in the notion of adaptive control strategy. Numerical simulation results are given to illustrate the effectiveness of our proposed method.