Distributed H∞ Robust Control of Multiagent Systems With Uncertain Parameters: Performance-Region-Based Approach

This article deals with the distributed
$\mathcal {H}_{\infty }$
robust control problem for linear multiagent systems perturbed by external disturbances and norm-bounded uncertain parameters over the Markovian randomly switching communication topologies. To tackle this problem, the distributed observer-based controller is proposed, which requires the relative information between neighbors and the absolute information of a subset of the nodes, and thus is intrinsically distributed. It is of great interest to see that the distributed
$\mathcal {H}_{\infty }$
robust control problem governed by such a controller can be converted to the stabilization with
$\mathcal {H}_{\infty }$
disturbance attenuation problems of some decoupled linear systems, whose dimensions equal those of a single node. Then, the
$\mathcal {H}_{\infty }$
stochastic robust performance region is defined to indicate the robustness of this controller against the variation of communication topologies. It is theoretically shown that the distributed observer-based controller yields bounded and connected robust performance region. Finally, the theoretical results are verified by conducting numerical simulations and experiments.