Robust H_∞ Consensus Control for Uncertain Multi-agent System with Time-varying Delays

Under fixed undirected topologies with multiple time-varying delays, robust H_∞ consensus problem of multi-agent system with disturbances and uncertainty is considered. First, consensus problem of multi-agent system is transformed into consensus problem of system with low dimensions; then, Lyapunov functions for low-dimension system are constructed and sufficient conditions are derived for existence of robust linear H_∞ feedback control law for consensus of original multi-agent systems. Linear matrix inequality is also employed to describe these obtained sufficient conditions. Simulation results using Matlab also illustrate the effectiveness of the proposed method.