Robust H_∞ consensus control concerning second-order multi-agent systems with time-varying delays on dynamic topologies

Abstract

Robust H _∞ consensus control for second-order multi-agent systems is addressed. Considering the delayed directed networks with disturbances and uncertainty parameters on dynamic topologies, the consensus protocols are proposed and analysed. By constructing the common Lyapunov–Krasovkii functional, applying the Lyapunov–Krasovkii theory and integral inequality approach, the sufficient condition of consensus protocol convergence is derived, guaranteeing robust H _∞ consensus for given second-order multi-agent systems. Finally, numerical examples are provided to demonstrate the effectiveness of the main results.

Keywords:

• multi-agent systems
• time-varying delays
• robust H _∞ control
• Lyapunov–Krasovskii functional
• directed networks

2000 AMS Subject Classifications :

• 34H05
• 93D09

Acknowledgements

This work was supported in part by the National Natural Science Foundation of China (No. 60774088, 60904064, 60904022), Specialized Research Fund for the Doctoral Program of Higher Education (No. 20090031110029), National Natural Science Foundation of Tianjin (No. 09JCYBJC01700).