An Adaptive 𝐻^∞-Based Formation Control for Multirobot Systems

Table 1

Parameter specifications of hexagonal formation.

	|𝑖−𝑗|=1	|𝑖−𝑗|=2	|𝑖−𝑗|=3	|𝑖−𝑗|=4	|𝑖−𝑗|=5
𝑑𝑖𝑗	1.0	1.7	2.0	1.7	1.0