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In this work, single-integrator multi-agent directed networks with energy bounded disturbances and Guassian white noises are considered in term of H2 and H∞ performance. Meanwhile actuator uncertainty is also the concern of H∞ performance. Distributed control law of undetermined parameters is proposed. By using H2/H∞ theory and linear algebra, the problem is transformed into a non-convex optimization problem on diagonal matrices. Numerical iterative algorithms with consideration on both feasibility and conservatism are presented.

Distributed H2/H∞ Consensus Control for Multi-agent Systems with Directed Graph and Actuator Uncertainty