Dynamic H∞ Consensus of Higher-Order Nonlinear Multi-Agent Systems With General Directed Topology

This paper investigates the leaderless $H_{\infty }$ consensus problem of multi-agent systems with higher-order Lipschitz dynamics and external disturbance. The topology is assumed to be directed. Distributed controllers using only relative outputs information of the adjacent agents are constructed. In order to deal with the non-symmetric property of the associated Laplacian matrix of directed topology, some properties of Laplacian matrix are introduced. By introducing an appropriate state transformation, the $H_{\infty }$ consensus problem is converted to a low-dimensional system stability problem which is solved using Lyapunov stability analysis method. The effectiveness of the proposed control design is demonstrated through simulation examples.