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H∞ Formation control design for multiple euler-lagrange agents subjected to switching topologies

In this paper, the H∞ formation control of platooning agents in unknown environments under switching communication condition is studied. Each agent is an Euler-Lagrange system with unknown external disturbance. To achieve the control goal, a compound control strategy is developed. To be specific, neural network-based approximators are developed to estimate the unknown nonlinear term of the transformed agents; In terms of the exogenous disturbances, H∞ control strategy is employed to guarantee the system states to be robust; meanwhile, artificial potential method produces proper attractive or repulsive powers to aid the agents in maintaining desired distance with obstacles and themselves, respectively. All the tracking error signals are uniformly ultimately bounded (UUB) in the paper.