Leader-following H∞ consensus of discrete-time nonlinear multi-agent systems based upon output feedback control

In this paper, the leader-following H infinity consensus problem for discrete-time nonlinear multi-agent systems with delay and parameter uncertainty is investigated, with the objective of designing an output feedback protocol such that the multi-agent system achieves leader-following consensus and has a prescribed H infinity performance level. By model transforming, the leader-following consensus control problem is converted into robust H infinity control problem. Based on the Lyapunov function technology and the linear matrix inequality method, some new sufficient conditions are derived to guarantee the consensus of discrete-time nonlinear multi-agent systems. The feedback gain matrix and the optimal H infinity performance index are obtained in terms of linear matrix inequalities. Finally, numerical examples are provided to illustrate the effectiveness of the theoretical results.