Institute of Intelligent Systems and Decision, Wenzhou University, Zhejiang, China

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Abstract—In this paper, we consider multi-agent H_∞; consensus control problems with external disturbance under directed switching topologies. Both switching networks with and without time-delay are taken into consideration. By the model transformation, the multi-agent H_∞ control problem is converted into the switching linear system H_∞ control problem with special structure. Based on graph theory and common Lyapunov function method, we establish LMI sufficient conditions under which all agents can reach consensus with the desired H_∞ performance in two cases of zero and nonzero communication delays respectively. Specially, we obtain an explicit estimation expression of H_∞ performance index in undirected non-time-delay switching topology case. Finally, two numerical examples are provided to illustrate the effectiveness of the obtained results.

Index Terms—Multi-agent systems, H_∞ control, switching topology, consensus, time-delay.

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Cite: Lixin Gao, Yanping Luo, "Distributed H_∞ coordination of multi-agent systems with directed switching topology and time-delay," Journal of Computers vol. 7, no. 5, pp. 1261-1269, 2012.