Robust H∞ consensus control of uncertain multi-agent systems with nonlinear dynamics and time-varying delays

This paper is concerned with the H_∞ consensus control problem in undirected networks of autonomous agents with nonlinear dynamics, subject to parameter uncertainties and external disturbances. With the consideration of timevarying delays arising from communication among agents, a distributed protocol is proposed using the local delayed state information. Then, by defining an appropriate controlled output function, the consensus problem under the proposed protocol is converted into an H_∞ control problem. Based on robust H_∞ theory, sufficient conditions are derived to make all agents achieve consensus with desired H_∞ performance. Moreover, the feedback matrix in the proposed protocol is determined by solving two linear matrix inequalities (LMIs) with the same dimensions as a single agent. Finally, a numerical simulation is provided to demonstrate the effectiveness of our theoretical results.