Robust H∞ consensus of multi-agent with time-delay

Robust H
_∞
consensus problem for second-order multi-agent systems is addressed in this paper. A distributed observer-type position feedback protocol is adopted for the agent with multiple time-varying delays and disturbances. Sufficient conditions are derived to make all agents asymptotically reach consensus while satisfying desired H
_∞
performance. Finally, simulation results are provided to prove the effectiveness of the theoretical results.