Robust H ∞ time-varying formation control of singular multiagent systems under jointly connected topologies

This study investigates time-varying formation design and analysis problems for the singular multiagent systems (SMASs) with external disturbances and jointly connected topologies. Firstly, the novel nonlinear distributed formation protocol is formulated and the finite-time reachability of sliding mode surfaces is proved. Another improvement emphasizes that a common matrix can be extracted from the decomposition of all switching Laplacian matrices, which simplifies the formation control problem to admissible analysis. Secondly, by using the feedback impulse elimination and Cauchy convergence criterion methods, the solvability of the time-varying formation control is obtained. Thirdly, the external disturbances are well suppressed by the robust H infinity stability analysis. Finally, to verify the validity of the proposed theory, the simulation examples of hexagonal time-varying formation are provided.