H∞ approach to the consensus problem of multi-agent systems

In this paper, H_∞ method is applied to solve the consensus problem of multi-agent systems with various dynamics and subject to external disturbances, and some different distributed protocols are proposed that take into account the communication uncertainties and/or delays among agents. The motivation and essential of using H_∞ theory to study the consensus problem is explained in detail, and then a systematic research procedure is formulated. Further, a series of sufficient conditions are given to ensure the consensus performance with a desired H_∞ disturbance attenuation level for the multi-agent systems with first-order, second-order, high-order and linear coupling dynamics.