Dynamic output feedback control for consensus of multi-agent systems: An H∞ approach

This paper deals with the consensus control of a multi-agent system with state and measurement disturbances, and proposes a distributed dynamic output feedback protocol. By defining an appropriate controlled output, the consensus control problem is reformulated as an H
∞
control problem. Using H
∞
techniques, a sufficient condition in terms of linear matrix inequalities (LMIs) is given to ensure consensus with the prescribed H
∞
performance, and the undetermined system matrix of the proposed protocol is obtained. Simulation results show that a multi-agent system under the proposed protocol with system matrix solved by the LMI (linear matrix inequality) approach possesses the desired H
∞
consensus performance.