A Robust Guaranteed Cost Formation Control for a Class of Uncertain Multi-Agent Systems for Event-Trigger-Based Variable Gain Controllers

In this paper, we propose a design method for a new event-trigger-based variable gain robust controller which achieves both consensus and guaranteed cost performance for a class of uncertain multi-agent systems (MASs) with the leaderfollower structure. The proposed variable gain robust controller is composed of stabilizing state feedback laws, state feedback inputs for consensus, and compensation inputs with adjustable parameters, and is designed for giving consideration to relative positions explicitly. In this paper, we show that sufficient conditions for the existence of the proposed robust guaranteed cost formation controller are given in terms of Linear Matrix Inequalities (LMIs). Finally, a simple example is included.