Robust H_∞ Consensus Control for Heterogeneous Multi-agent Systems Based on Time-delay and Switching Topology

This study proposes a consensus control strategy for heterogeneous multi-agent systems characterized by uncertain parameters and external disturbances, to address the intricate robust control challenges posed by time-varying delays and dynamic network topologies. A distributed control protocol is design to make the states of the heterogeneous multi-agent system be consistent. Then the stability of the control protocol is analyzed by Lyapunov-Krasovskii stability theory and integral inequality techniques, and the sufficient conditions for the system to achieve robust H<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> consistency are obtained. Finally, the results of the simulations verify the accuracy of the theoretical analysis presented in this paper.