Distributed robust consensus of linear multi‐agent systems with switching topologies

Abstract

This paper studies the consensus problem of multi-agent systems consisting of general linear node dynamics with external disturbances in transmission channels under fixed and switching communication topologies. A distributed observer-type robust consensus protocol based on relative output measurements is proposed. A model transformation approach is introduced to address the robust consensus of multi-agent systems. Some conditions for robust consensus are given in terms of linear matrix inequalities for fixed and jointly connected communication topologies. A multi-step robust consensus protocol design procedure is further presented. Finally, the effectiveness of the theoretical results is demonstrated through numerical simulations.