Fully Distributed Robust Adaptive Formation Control for Linear Multi-agent System with Uncertainties and Communication Delays⋆

This paper investigates fully distributed robust adaptive formation control problems of a class of general linear higher-order systems subject to heterogeneous uncertainties over a deterministic network under time-varying communication delays. A novel robust adaptive strategy is developed to cope with the uncertainties dependent on control inputs as well as system states. Thereafter, an original fully distributed formation controller is designed, which incorporates two parts, namely, the nominal controller relying on delayed neighbouring information to attain the desired formation and the robust adaptive compensating signal to restrain the influences of uncertainties. The controller design and implementation require neither the global information about interaction graph nor the upper bounds of uncertainties. Based on the Lyapunov-Krasovskii arguments, sufficient conditions for the closed-loop system in the presence of network latency to achieve the desired formation is derived. Numerical simulation results are presented to demonstrate the effectiveness of the proposed formation protocol.