Robust adaptive time-varying formation control for high-order linear uncertain multi-agent systems

Robust adaptive time-varying formation control problems for high-order linear multi-agent systems with parameter uncertainties and external disturbances are investigated. Firstly, using the adaptive updating mechanism, a fully distributed time-varying formation control protocol is proposed. The protocol is determined by each agent in a fully distributed form and does not need any global information about the interaction topology. Then, time-varying formation feasible conditions and an approach to expand the feasible formation set are presented. Furthermore, the stability of the proposed approach is proved based on the Lyapunov theory. Finally, a simulation example is given to verify the effectiveness of the theoretical results.