Output Feedback Controller Design for Multi-Agent Systems with Dynamic Heterogeneity in the Presence of Parameter Uncertainty and Exogenous Disturbances

This paper is concerned with network based leader following consensus for a distributed multi agent system with interval time varying delays in the presence of uncertainty and disturbances. A network based consensus control protocol under a directed graph is proposed. The nonlinear time varying coefficients derived from Jenson's integral inequality is approximated with an estimation method. Finally with convex combination, less conservative stability criteria are provided. In this method, the output feedback H∞ control is proposed to leader following consensus and robust stability of the closed loop system. In the presence of uncertainty and disturbances in the system, using H∞ control along with dynamic output feedback controller has led to better results in tracking the reference signal. This study provides H∞inf stability criteria in the forms of linear matrix inequalities (LMIs) and convex programming standard form. Numerical examples are given to show the effectiveness of the obtained theorems and results.