Non-fragile H∞ consensus tracking of nonlinear multi-agent systems with switching topologies and transmission delay via sampled-data control

Abstract In this paper, the sampled-data non-fragile H∞ consensus tracking problem for Lipschitz nonlinear multi-agent systems with switching topologies and exogenous disturbances is investigated. Each possible interaction topology in the switching topologies set is assumed to contain a directed spanning tree. With introducing a sampled-data mechanism, the information is only capable of being aperiodically transmitted in the network at each sampling instant and unavoidably subject to a transmission delay. Then a protocol collecting the delayed sampled-data information from neighboring agents is proposed not only to provide robustness against some level of controller gain perturbations, but also to regulate consensus performance with an H∞ disturbance attenuation level. By using tools from algebraic graph theory and Lyapunov-Krasovskii functional technique, it is proved that the concerned consensus tracking problem is solvable if the resultant consensus error system can be asymptotically stabilized. Simulation results verify the theoretical analysis.