H∞consensus control of multi-agent systems with switching topology: a dynamic output feedback protocol

Abstract This article is devoted to the consensus control for switching networks of multiple agents with linear coupling dynamics and subject to external disturbances, which is transformed into an H ∞ control problem by defining an appropriate controlled output. On this basis, a distributed dynamic output feedback protocol is proposed with an undetermined system matrix, and a condition in terms of linear matrix inequalities (LMIs) is derived to ensure consensus of the multi-agent system with a prescribed H ∞ level. Furthermore, system matrix of the protocol is designed by solving two LMIs. A numerical example is included to illustrate the effectiveness of the proposed consensus protocol. Keywords: consensusmulti-agent systems H ∞ controlexternal disturbancesswitching networks Acknowledgements This work is supported by the NSFC (60374001, 60727002, 60774003), the MOE (20030006003), the COSTIND (A2120061303) and the National 973 Program (2005CB321902).