Adaptive H∞ formation control for Euler-Lagrange systems | IEEE Conference Publication | IEEE Xplore

Adaptive H∞ formation control for Euler-Lagrange systems


Abstract:

Design methods of adaptive H∞ formation control of multi-agent systems composed of Euler-Lagrange systems are presented in this paper. The proposed control schemes are de...Show More

Abstract:

Design methods of adaptive H formation control of multi-agent systems composed of Euler-Lagrange systems are presented in this paper. The proposed control schemes are derived as solutions of certain H control problems, where estimation errors of tuning parameters and error terms in potential functions are regarded as external disturbances to the process. It is shown that the resulting control systems are robust to uncertain system parameters and that the desirable formations are achieved asymptotically via adaptation schemes.
Date of Conference: 15-17 December 2010
Date Added to IEEE Xplore: 22 February 2011
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Conference Location: Atlanta, GA, USA

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