Distributed-observer-based robust H∞ consensus control for multi-agent systems under switching topologies

In this paper we consider the problem of robust H_∞ output consensus control for a class of uncertain multi-agent systems with disturbances. It is assumed that the communication network can arbitrarily switch among finite undirected topologies. Based on the relative output information from the neighbors, the distributed-observer-based H_∞ consensus protocol is proposed. Then, by using the common Lyapunov functions method and algebraic graph theory, the design condition of H_∞ consensus algorithm is given in terms of LMIs. Compared with the existing results on H_∞ consensus problem subject to switching networks, no constraint on topology (average) dwell time in this work. It is proved that the proposed output consensus scheme can guarantee that the H_∞consensus problem is solvable in the presence parameter uncertainties and external disturbance. Finally, an example simulation is given to illustrate the effective of the proposed protocol.

1 INTRODUCTION

In the last decade or so, there are increasing number of scholars focused more on the consensus control problem of multi-agent systems (MASs). Its model is widely used in practical applications, such as communication networks, submarine exploration, satellite monitoring, etc. The most critical step of the consensus control problem is to deal with the MASs achieve a certain number of target consensus through the available neighboring agents information design optimal protocols or algorithms. According to the application of the actual model, we consider the problem as the leaderless consensus problem [1], [2] and the leader-following consensus problem [3] – [6].