This study addresses the H infinity consensus problem for linear multi-agent systems subject to external disturbances under the leaderless framework. A novel distributed dynamicoutputfeedback control protocol is pro...
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This study addresses the H infinity consensus problem for linear multi-agent systems subject to external disturbances under the leaderless framework. A novel distributed dynamicoutputfeedback control protocol is proposed, which utilises not only relative output information of neighbouring agents but also relative state information of neighbouring controllers. Through model transformation, the H infinity consensus control problem of multi-agents network is reduced to a set of independent H infinity stabilisation subproblems for n-dimensional linear systems. Sufficient analysis conditions are derived using the Lyapunov method. An important contribution of this work lies in that the leaderless H infinity output-feedback consensus synthesis conditions are convexified without introducing any conservatism and formulated as linear matrix inequalities, which can be solved efficiently via convex optimisation. This is achieved by using a novel dynamic output-feedback controller structure. A numerical example has been used to demonstrate the advantage of theoretical results.
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