Robust L₂ − L_∞ consensus control for uncertain high-order multi-agent systems with time-delay

Abstract

This article studies that the robust consensus problem for high-order multi-agent systems with time-delay, which are subjected to external disturbances and communication uncertainties. An approach based on the weighting matrix is introduced to meet the requirement that the peak value of controlled output is often required into a certain range. Then, a dynamic model of high-order multi-agent systems is established. Using a feedback controller and interactions from the neighbours including uncertainties, a linear control protocol is proposed for the systems with networks under fixed or switching topologies. Sufficient conditions in terms of linear matrix inequalities are derived to make all the agents reach robust consensus with the prescribed L ₂ − L _∞ performance. A numerical simulation is provided to demonstrate the effectiveness of the proposed protocol.

Keywords:

• robust consensus
• high-order multi-agent systems
• L ₂ − L _∞ control
• external disturbances
• communication uncertainties
• time-delay

Acknowledgements

This work was supported by the National 973 Program (2012CB821200) and the NSFC (61134005, 60921001, 90916024, 91116016).