Consensus Control for Variable Multi-agent Systems with Faults and Disturbances

This paper investigates multi-agent consensus problem with an active leader as well as external disturbances and some faults. The undirected networks with variable interconnection topology are taken into consideration. Distributed H-infinity / H- consensus control algorithm is proposed to analyze the disturbance rejection and fault sensitivity problem arising in the coordination control of multi-agent networks. With a proposed control scheme, we then present sufficient conditions under which all agents can reach consensus with the desired performance index. Finally, simulation results are provided to demonstrate the effectiveness of our theoretical results.