A robust control approach to formation control

This paper considers formation control for multiagent systems (vehicles, robots, satellites, etc.) and is based on the work of Fax and Murray [1], which provides a link between graph theory and the formation control problem for a given communication topology. We propose a distributed controller H_∞ and μ synthesis techniques that can guarantee the stability of the multi-agent system for any number of agents and any communication topology. Two examples illustrate the proposed method.