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Consensus problem of high‐order multi‐agent systems with external disturbances: An H ∞ analysis approach
Author(s) -
Liu Yang,
Jia Yingmin
Publication year - 2010
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1531
Subject(s) - protocol (science) , network topology , multi agent system , transformation (genetics) , consensus , computer science , order (exchange) , mathematical optimization , control theory (sociology) , topology (electrical circuits) , control (management) , mathematics , computer network , artificial intelligence , medicine , biochemistry , chemistry , alternative medicine , finance , pathology , combinatorics , economics , gene
This paper is devoted to the output consensus problem of directed networks of multiple high‐order agents with external disturbances, and proposes a distributed protocol using the neighbors' measured outputs. By defining an appropriate controlled output and conducting a model transformation in two steps, consensus performance analysis of the multi‐agent system under the proposed protocol is transformed into a normal H ∞ problem. Then using H ∞ theory of linear systems, conditions are derived to ensure the consensus performance with a prescribed H ∞ index for networks with fixed and switching topologies, respectively. A numerical example of the formation control application is included to validate the theoretical results. Copyright © 2009 John Wiley & Sons, Ltd.