Non-fragile H∞ consensus tracking of nonlinear multi-agent systems with switching topologies and transmission delay via sampled-data control

Abstract

In this paper, the sampled-data non-fragile H∞ consensus tracking problem for Lipschitz nonlinear multi-agent systems with switching topologies and exogenous disturbances is investigated. Each possible interaction topology in the switching topologies set is assumed to contain a directed spanning tree. With introducing a sampled-data mechanism, the information is only capable of being aperiodically transmitted in the network at each sampling instant and unavoidably subject to a transmission delay. Then a protocol collecting the delayed sampled-data information from neighboring agents is proposed not only to provide robustness against some level of controller gain perturbations, but also to regulate consensus performance with an H∞ disturbance attenuation level. By using tools from algebraic graph theory and Lyapunov–Krasovskii functional technique, it is proved that the concerned consensus tracking problem is solvable if the resultant consensus error system can be asymptotically stabilized. Simulation results verify the theoretical analysis.