Sampled-Data $\mathcal {L}_{2}-\mathcal {L}_{\infty }$ Consensus Control of Nonlinear Multi-Agent Systems

The problem of sampled-data L
₂
- L
_∞
consensus control for the multi-agent systems with nonlinear dynamics and external disturbances is investigated via dynamic output feedback (DOF) strategy. Both the control input and the measured output are sampled. By employing the input/output delay approach, the multi-agent system with sampled-data DOF control protocol is transformed into the closed-loop system with bounded time-varying delays. Then, by using matrix theory, graph theory, Lyapunov stability theory, and some decoupling methods, sufficient conditions for the sampled-data L
₂
- L
_∞
consensus of the closed-loop system are derived under fixed and switching topologies, respectively. The desired gains can be obtained by solving a set of linear matrix inequalities. Finally, two numerical examples are provided to illustrate the effectiveness of the proposed DOF control protocol.