Event-based H∞ consensus control for second-order leader-following multi-agent systems

By using the event-based strategy, the H-infinity consensus problem of second-order leader-following multi agent systems with a directed communication network graph is investigated. Firstly, this paper provides a distributed event-triggered sampling scheme and an event-based distributed sampling rules by using algebraic graph theory and matrix theory, and proposes a sufficient condition under reasonable assumptions for solving the H-infinity consensus problem of second-order leader-following multi-agent systems. Secondly, in order to reduce the conservatism of the given condition, two equivalent improved conditions by using the linear matrix inequality (LMI) theory are established. Thirdly, considering a special case of the external disturbance, a new event-based distributed sampling rule is provided, which can reduce the update of controller and completely exclude the Zeno-behavior. Fourthly, consider the consensus problem as a special situation of H-infinity. consensus problem when the value of the external disturbance is zero, and make all the obtained results of H-infinity consensus problem extend to the consensus problem. Finally, two numerical examples are given to demonstrate the effectiveness of theoretical results. (C) 2016 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.