Distributed H∞ Robust Control of Uncertain Linear Multi-Agent Systems

The distributed H-infinity robust control problem, for a group of autonomous agents governed by uncertain general linear node dynamics, is investigated in this paper. Based on the relative local information and the absolute information of a fraction of agents, some new distributed observer-type output-feedback control protocols are designed and analyzed. By using tools from robust control theory, sufficient conditions for the existence of controllers for solving such a problem are established. It is theoretically shown that the problem of distributed H-infinity robust control can be converted to the H-infinity control problem for decoupled linear systems of the same low dimensions. Finally, simulation examples are provided to illustrate the effectiveness of the design.