H∞ Consensus Control of Multi-Agent Systems with Directed and Switching Topologies

H-infinity consensus problem of linear time-invariant multi-agent systems with directed and switching topologies is investigated in this paper. Distributed consensus controllers are constructed based on relative states information of neighbor agents. A novel matrix decomposition based approach is introduced to analyze the H-infinity consensus problem with directed and switching topologies. Based on the solution of a linear matrix inequality which subjects to the least dwell time of the switching topologies, a design methodology is proposed to select the controller gains with a prescribed disturbance attenuation performance. The stability of the proposed controller is then investigated based on Lyapunov analysis. Finally, the effectiveness of the theoretical results is illustrated by performing simulations.