Disturbance Attenuation in Distance-based Formation Control: A Linear Matrix Inequality Approach

Abstract

In this paper, we discuss disturbance attenuation problem in distance-based formation control under the exogenous disturbance. Based on the Lyapunov stability theory, we derive the matrix inequality condition for local asymptotic boundedness of the overall squared-distance errors of multi-agent system. Through simulations, we could see that there exists a positive definite symmetric matrix of linear matrix inequality(LMI), with bounded squared-distance errors of formation system.