Distributed H∞ consensus control for nonlinear multi-agent systems under switching topologies via relative output feedback

For a class of nonlinear multi-agent systems under switching topologies with disturbances, we propose a distributed H∞ consensus control protocol based on relative output feedback and utilize an iterative algorithm for solving nonlinear matrix inequality in this paper. Firstly, a consensus control protocol via relative output feedback is designed. Then, an iterative algorithm is utilized to calculate nonlinear matrix inequality. By this, the output feedback gain is designed but not chosen, which increases the design degree of freedom and meanwhile H∞ performance index γ is obtained. Finally, the proposed theory is applied to multiple simple-pendulums network systems driven by DC motors, and simulation results show the effectiveness of the designed consensus control protocol.

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