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This paper considers the consensus performance improvement problem ofnetworked general linear agents subject to external disturbances over Markovianrandomly switching communication topologies. The consensus control laws canonly use its local output information. Firstly, a class of full-orderobserver-based control protocols is proposed to solve this problem, whichdepends solely on the relative outputs of neighbours. Then, to eliminate theredundancy involved in the full-order observer, a class of reduced-orderobserver-based control protocols is designed. Algorithms to construct bothprotocols are presented, which guarantee that agents can reach consensus in theasymptotic mean square sense when they are not perturbed by disturbances, andthat they have decent $H_{\infty}$ performance and transient performance whenthe disturbances exist. At the end of this manuscript, numerical simulationswhich apply both algorithms to four networked Raptor-90 helicopters areperformed to verify the theoretical results.

An Output-Feedback Control Approach to the $H_{\infty}$ Consensus Integrated with Transient Performance Improvement Problem