Finite-horizon distributed H∞-consensus control of time-varying multi-agent systems with Round-Robin protocol

Abstract

This paper takes into account the H∞-consensus control problem for a class of uncertain discrete time-varying multi-agent systems which is constrained by Round-Robin scheduling protocol and measurement saturations. In the multi-agent system under consideration, all the system parameters are time-varying to better reflect the practical engineering. The Round-Robin protocol is utilized to alleviate the communication congestion in a shared constrained network by scheduling the information transmission among agents, where an agent can receive one neighbor’s information at each time instant and the transmission order of neighboring agents is regulated. The aim of the research is to design consensus controller for each agent over an assigned finite horizon such that the closed-loop multi-agent systems with saturated measurement outputs can satisfy the H∞ disturbance attenuation level. Next, a sufficient condition is derived to ensure the H∞-consensus performance constraint based on the Lyapunov stability theory. Then, the controller parameters can be obtained by solving recursively a linear matrix inequality at every time instant. Finally, a numerical example is provided to show the effectiveness of the developed consensus control scheme.