Distributed Consensus Control for General Uncertain Linear Multi-Agent Systems

This paper addresses the consensus problem for uncertain linear multi-agent systems with distributed state feedback protocol based on relative information of the neighboring agents. The agents share identical nominal linear time-invariant (LTI) dynamics subject to structured uncertainty. Through model transformation, the robust consensus control problem of high dimensional network reduced to scaled $H$∞ control problems of a set of independent n-dimensional linear systems. Sufficient analysis conditions are provided for the robust consensus of uncertain multi-agents with $H$∞ bound. Moreover, control synthesis condition is established as linear matrix inequalities (LMIs) and can be solved efficiently. Simulation study on a multi-agent system demonstrates the advantage of theoretical results.