Robust H<inf>∞</inf> tracking consensus for nonlinear multi-agent systems with time-varying delay

Abstract

The distributed robust H ∞ consensus problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is considered in this paper. Considering the multi-agent systems with external disturbances and model uncertainty, the consensus control protocols are designed and analyzed. By Lyapunov functional theory and linear matrices inequality(LMI) method, some sufficient conditions are given to ensure the multi-agent systems can reach consensus with the given H ∞ performance.