Abstract
This paper addresses the adaptive $\mathcal{H}_{\infty}$ consensus problem for linear multi-agent systems subject to external disturbances. A novel fully distributed adaptive dynamic output feedback control protocol is proposed, which utilizes relative output information of neighboring agents, relative state information of neighboring controllers and time-varying coupling weight for each node. Sufficient analysis conditions are derived using Lyapunov method. Moreover, $\mathcal{H}_{\infty}$ adaptive output-feedback consensus synthesis conditions are formulated as linear matrix inequalities, which can be solved efficiently via convex optimization. This is achieved by using a novel adaptive protocol structure. A numerical example has been used to demonstrate the advantage of theoretical results.
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