Robust H∞ Consensus Control for a Class of Nonlinear Multi-agent Systems with Similar Structure

A novel robust H
_∞
consensus control for nonlinear multi-agent systems with similar structure is proposed in this paper. Similar structure of multi-agent systems is first introduced, the similar parameters are utilized to synthesize consensus control for a class of multi-agent systems with nonidentical dimension. Based on linear matrix inequality (LMI), sufficient conditions can be derived to ensure that all states in follower systems asymptotically converge to the states of leader with a given prescribed H
_∞
performance. The salient advantage of the designing control approach is that the consensus of different dimension in multi-agent systems with similar structure also can be guaranteed. Finally, examples of multi-agent systems with identical and nonidentical dimensions are provided to demonstrate the validity of the proposed theoretical results.