Consensus problem of high‐order multi‐agent systems with external disturbances: AnH∞analysis approach
Yang Liu, Yingmin Jia · International Journal of Robust and Nonlinear Control · 2009
Abstract This paper is devoted to the output consensus problem of directed networks of multiple high‐order agents with external disturbances, and proposes a distributed protocol using the neighbors' measured outputs. By defining an appropriate controlled output and conducting a model transformation in two steps, consensus performance analysis of the multi‐agent system under the proposed protocol is transformed into a normalH∞problem. Then usingH∞theory of linear systems, conditions are derived to ensure the consensus performance with a prescribedH∞index for networks with fixed and switching topologies, respectively. A numerical example of the formation control application is included to validate the theoretical results. Copyright © 2009 John Wiley & Sons, Ltd.