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

摘要

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.