The L2-LInfinite Control for Leader-following Coordination with Switching Topology and Time-delay
Yanping Luo, Lixin Gao, Fang Wang · Journal of Networks · 2010
In this paper, we investigate the L_2 - L_\infinity leader-following coordination problems with undirected switching topologies and external disturbance in two cases of the time delay and non-delayed networks. The agent dynamics is expressed in the form of a second-order model and the control laws are neighbor-based feedback laws. We first establish LMI sufficient conditions to guarantee that all following agents can track the leader agent with zero and nonzero communication delays respectively. Furthermore, we get a explicit estimation expression of L_2 - L_\infinity disturbance attenuation by constructing a parameter-dependent common Lyapunov function in case that there is no delay time. Finally, numerical examples are provided to illustrate the effectiveness of our results.