L2–L∞ consensus control for high-order multi-agent systems with switching topologies and time-varying delays

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L2–L∞ consensus control for high-order multi-agent systems with switching topologies and time-varying delays

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© The Institution of Engineering and Technology
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This study is devoted to the L2–L∞ consensus problem for high-order multi-agent systems subjected to external disturbances. The network with time-varying delays is particularly taken into consideration under switching network topologies. By performing a model transformation, the consensus problem of the multi-agent systems is turned into a normal L2–L∞ control problem. Sufficient conditions in terms of linear matrix inequalities are derived to ensure that all agents could asymptotically reach consensus with a prescribed disturbance attenuation performance, which provide the allowable upper bound of communication delays. Numerical simulations are provided to demonstrate the effectiveness of our theoretic results.

Inspec keywords: stability; delays; topology; time-varying systems; linear matrix inequalities; multi-robot systems

Other keywords: disturbance attenuation performance; L2-L∞ consensus control; consensus problem; numerical simulation; asymptotic consensus reaching; communication delay; external disturbance; linear matrix inequalities; model transformation; sufficient conditions; switching topology; switching network topology; high-order multiagent system; time-varying delay

Subjects: Time-varying control systems; Stability in control theory; Combinatorial mathematics; Distributed parameter control systems; Linear algebra (numerical analysis); Robotics

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