H ∞ consensus of multi-agent systems in directed networks with Lipschitz non-linear dynamics
Wei Liu, Shaolei Zhou, Qingpo Wu, Gaoyang Yin · Transactions of the Institute of Measurement and Control · 2016
This paper studies the H ∞ consensus problem of multi-agent systems with Lipschitz non-linearities and external disturbances in a general network. The topology is just required to contain a directed spanning tree. Distributed consensus controllers are constructed based on relative states information of neighbour agents. A novel matrix decomposition based approach is introduced to analyse the H ∞ consensus problem, in which the H ∞ consensus problem is converted into a H ∞ control problem of lower dimension system by performing a proper linear variable transformation. Finally, the effectiveness of the theoretical results is illustrated via a numerical simulation.