Time-varying output formation tracking of linear disturbed multi-agent systems by dynamic protocols

This work proposes new conditions for the H ∞ time-varying output formation tracking (HTVOFT) problem of identical linear multi-agent systems subject to exogenous disturbances in directed communication graphs. The proposed conditions allow the designer to choose the order of the protocol, including static, reduced, or full-order dynamic controllers. New sufficient linear matrix inequalities (LMI) conditions are presented to solve the HTVOFT problem with guaranteed H ∞ performance. By proposing a polytopic LMI representation, we present a procedure that allows the design of protocol gains for a family of topologies regardless of the number of agents. Numerical experiments illustrate the effectiveness of the proposed approach.