Consensus for Time-Delay Multi-Agent Systems with Finite Frequency-Domain H∞ Performance

This paper considers the consensus problem with finite frequency-domain $H$∞ performance for uncertain multi-agent systems with time-delays. Using a linear transformation, the consensus problem is first transformed into a partial stability problem of a reduced dimensional system. Then, based on the orthogonal space information of input matrix, the unified method of designing four kinds of controllers guaranteeing the consensus with $H$∞ performance in finite frequency ranges for the system is proposed. Moreover, the controller gain is achieved by an alternating iteration algorithm. A numerical example is included to show the effectiveness of the proposed approach.

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