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H_ ∞ Consensus Control of Multi-Agent Systems: a Dynamic Output Feedback Controller with Time-Delays

Dun Ao  Guoan Yang  Xueli Wang  
【摘要】:This paper investigates the H∞ consensus problem for networks of multi-agent systems subject to external disturbances. In particular, a distributed dynamic output feedback controller with time-varying delays is provided, which is based on the relative outputs of neighboring agents. By using Schur complement lemma, Newton Leibniz formula and Jensen's inequality, sufficient conditions are derived to guarantee the H∞ consensus under an undirected communication topology, which is in terms of linear matrix inequalities(LMIs). And meanwhile the parameter of controller is also determined. Finally, a numerical example is presented to illustrate the effectiveness of the proposed methods.

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