On H ∞-consensus filtering for multi-agent systems

Abstract

This article investigates the H ∞-consensus filtering problem for multi-agent systems. The purpose of the problem addressed herein is to design decentralised full-order filters such that the filtering error dynamics achieve consensus and the prescribed noise attenuation level in H ∞ sense. Based on the state decomposition and the Lyapunov function method, sufficient conditions expressed in terms of linear matrix inequalities are derived for existence of such filters. Finally, a simulation example is utilised to demonstrate the usefulness of the developed theoretical results.