The general solution works as follows:
We start with the Friedmann equation
$$
\dot{a}^2 - \frac{8\pi G}{3}\rho a^2 = -kc^2,
$$
with $k=0,\ 1,\ $or $-1$, and $\rho$ the total density. Since the right-hand side is constant, we can write
$$
\dot{a}^2 - \frac{8\pi G}{3}\rho a^2 = \dot{a}_0^2 - \frac{8\pi G}{3}\rho_0 a_0^2,
$$
where the subscript 0 denotes the present-day values. If we introduce the Hubble constant
$$
H_0 = \frac{\dot{a}_0}{a_0}
$$
and the present-day critical density
$$
\rho_{c,0} = \frac{3H_0^2}{8\pi G},
$$
we get
$$
\frac{\dot{a}^2}{a_0^2} - H_0^2\frac{\rho}{\rho_{c,0}} \frac{a^2}{a_0^2} = H_0^2 - H_0^2\frac{\rho_0}{\rho_{c,0}}
$$
or
$$
H^2 = \frac{\dot{a}^2}{a^2} = H_0^2\left[\frac{\rho}{\rho_{c,0}} + \frac{a_0^2}{a^2}\left(1 - \frac{\rho_0}{\rho_{c,0}}\right)\right].
$$
Now, there are three contributions to the total density: radiation, matter (normal and dark) and dark energy:
$$
\rho = \rho_R + \rho_M + \rho_{\Lambda}.
$$
These densities change over time as follows: the matter density decreases as the volume of the universe increases, so $\rho_M\sim a^{-3}$, as you'd expect. The radiation falls off as $\rho_R\sim a^{-4}$ (the extra factor is due to redshift). And in the Standard Model, the dark energy remains constant: $\rho_{\Lambda} = \text{const}$. In other words,
$$
\begin{align}
\rho_R a^4 &= \rho_{R,0}\, a_0^4,\\
\rho_M a^3 &= \rho_{M,0}\, a_0^3,\\
\rho_\Lambda &= \rho_{\Lambda,0},
\end{align}
$$
and finally, with the notations
$$
\Omega_{R,0} = \frac{\rho_{R,0}}{\rho_{c,0}},\quad
\Omega_{M,0} = \frac{\rho_{M,0}}{\rho_{c,0}},\quad
\Omega_{\Lambda,0} = \frac{\rho_{\Lambda,0}}{\rho_{c,0}},\\
\Omega_{K,0} = 1 - \Omega_{R,0} - \Omega_{M,0} - \Omega_{\Lambda,0},
$$
we find
$$
H(a) = H_0\sqrt{\Omega_{R,0}\,a^{-4} + \Omega_{M,0}\,a^{-3} + \Omega_{K,0}\,a^{-2} + \Omega_{\Lambda,0}},
$$
where we used the convention $a_0=1$. Also note that
$$
\dot{a} = H_0\sqrt{\Omega_{R,0}\,a^{-2} + \Omega_{M,0}\,a^{-1} + \Omega_{K,0} + \Omega_{\Lambda,0}\,a^2},\\
\ddot{a} = -\frac{1}{2}H_0^2\left(2\,\Omega_{R,0}\,a^{-3}+\Omega_{M,0}\,a^{-2}
-2\,\Omega_{\Lambda,0}\,a\right).
$$
The latest values of the parameters, obtained from the Planck mission, are
$$
H_0 = 67.3\;\text{km}\,\text{s}^{-1}\text{Mpc}^{-1},\\
\Omega_{R,0} = 9.24\times 10^{-5},\qquad\Omega_{M,0} = 0.315,\\
\Omega_{\Lambda,0} = 0.685,\qquad\Omega_{K,0} = 0.
$$
So now we have the Hubble parameter as a function of the scale radius $a$. How can we convert this into a function of time? From
$$
\dot{a} = \frac{\text{d}a}{\text{d}t}
$$
we get
$$
\text{d}t = \frac{\text{d}a}{\dot{a}} = \frac{\text{d}a}{aH(a)} = \frac{a\,\text{d}a}{a^2H(a)},
$$
so that
$$
\begin{align}
t(a) &= \int_0^a \frac{a'\,\text{d}a'}{a'^2H(a')}\\
&= \frac{1}{H_0}\int_0^a
\frac{a'\,\text{d}a'}{\sqrt{\Omega_{R,0} + \Omega_{M,0}\,a' + \Omega_{K,0}\,a'^2 + \Omega_{\Lambda,0}\,a'^4}}.
\end{align}
$$
Inverting this relation, we get $a(t)$. Unfortunately, this inversion has to be done numerically. And finally,
$$
H(t) = H(a(t)).
$$
P.S. The solution that you mentioned is the case where radiation and matter are negligible, and dark energy has a more general form (called quintessence):
$$
\rho_R=\rho_M=0,\quad \rho_\Lambda = \rho_{\Lambda,0}\,a^{-3(1+w)},
$$
where $w=-1$ corresponds with the normal case of a cosmological constant. In this case, for a universe with no curvature,
$$
H^2 = H_0^2\,a^{-3(1+w)},\qquad
t(a) = \frac{1}{H_0}\int_0^a a'^{(1+3w)/2}\,\text{d}a',
$$
with solution $a\sim t^{2/(3+3w)}$, for $w>-1$. Solutions with $w\leqslant-1$ have no big bang, i.e. the lower bound in the integral $t(a)$ cannot be zero.
In any case, these are not accurate descriptions of our universe, since they ignore the contributions of matter and radiation.