Distributed robust H∞ rotating consensus control of multi-agent systems with mixed uncertainties and time-delay

In this paper, distributed robust H∞ rotating consensus control is investigated for multi-agent systems with model parameter uncertainty, external disturbances and time-delay. Firstly, a rotating consensus definition is given in the real fields. To solve such a consensus problem, a distributed neighbors´ state feedback-based protocol is introduced. Then by employing Lyapunov-Krasovskii approach, a sufficient condition in terms of linear matrix inequalities (LMIs) for networks with time-delay is derived to make all agents asymptotically reach rotating consensus while satisfying the desired H∞ performance. Finally, simulation results are provided to illustrate the effectiveness of our theoretical results.