H∞ group consensus for clusters of agents with model uncertainty and external disturbance

In this paper, the problem of H∞ group consensus is addressed for networks of agents modeled by single-integrator with model uncertainty and external disturbance. The first part of the work is to show that the group consensus with desired H∞ performance can be achieved under some sufficient conditions that are established in terms of the structure and strength of the couplings among agents. Then given the observation that the theoretical values of the coupling strengths are usually much larger than expected in practical situations, the second part of the work is concerned with developing an adaptation law to tackle such coupling strength problem.