高阶离散多智能体系统在参数不确定和带外部干扰下的鲁棒H∞一致性控制

The robust H∞ consensus control problem of highorder discrete-time multi-agent systems with parameter uncertainties and external disturbances is studied,and a linear distributed consensus protocol is designed in this paper.Firstly,the robust H∞ consensus control problem of high-order discrete-time multi-agent systems with parameter uncertainties and external disturbances is transformed to a robust H∞ control problem of a set of independent uncertain systems.Secondly,a sufficient linear matrix inequality (LMI) condition is derived to insure that high-order discrete-time multi-agent systems with parameter uncertainties and external disturbances achieve robust consensus with a H∞ performance level γ.Thirdly,convergence results are given as final consensus values of high-order discrete-time linear multi-agent systems with parameter uncertainties and without external disturbances.Finally,a contrast numerical experiment with and without parameter uncertainties is provided to demonstrate the correctness and effectiveness of the theoretical results.