Weighted H∞ Consensus for Multi-Agent Systems under Asynchronously Switching Topologies

This paper studies the problem of weighted H∞ consensus for discrete-time multi-agent systems(MASs) with modedependent average dwell time (MDADT) method under switching topologies. The asynchronous switching has been taken into consideration, which means the switching of controllers have a lag to the switching of system modes. Based on the outputs of MASs, a control protocol is proposed. By conducting a linear transformation, the weighted H∞ consensus design can be reduced to a weighted H∞ control problem. Then we establish Lyapunov function to analyse the stability and weighted H∞ performance, by which the sufficient conditions are derived through a set of linear matrix inequalities (LMIs). Finally, a simulation result is given to verify the effectiveness of the proposed protocol and design method.