Robust guaranteed cost time-varying formation tracking control for high-order multi-agent systems with external disturbances

Robust guaranteed cost time-varying formation tracking problems for high-order multi-agent systems under directed interaction topology are investigated. The external disturbances and unknown control input of the leader are considered simultaneously. A guaranteed cost function is constructed by considering the control input constraint and the formation tracking error constraint. A distributed robust guaranteed cost. time-varying formation tracking protocol is proposed. Under the protocol, the robust H-infinity, disturbance attenuation performance and the guaranteed cost formation tracking performance can he achieved simultaneously. A design approach to designing the protocol is presented. Besides, the stability of the closed-loop multi-agent system is proved by using the Lyapunov theories. Finally, the effectiveness of the theoretical results are verified by a third-order simulation example.