Mixed H-infinity and passive consensus sampled-data control for nonlinear systems

This paper studies the consensus problem of a second-order nonlinear multi-agent system with directed topologies. A distributed control protocol is proposed for each agent using the relative states among neighboring agents. A mixed H-infinity and passivity-based control is maneuvered to deal the bounded disturbances enduring in the system. Based on the theory of the sampled-data control technique and Lyapunov stability theory, some novel conditions are given to realize the consensus of a class of second-order multi-agent nonlinear systems. A new set of delay dependent sufficient conditions is derived in terms of linear matrix inequalities, which guarantees that all agents asymptotically converge to the convex hull with the prescribed H-infinity and passive performance. Finally, an example with simulation results is given to verify the theoretical results. (c) 2020 Author(s). All article content, except where otherwise noted, is licensed under a Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).