Distributed H∞H∞ consensus tracking control for multi-agent networks with switching directed topologies

This paper is concerned with the H∞H∞ consensus tracking control problem for linear leader–follower systems with switching directed networks and exogenous disturbances, where the condition of zero control input for leader node is not assumed. Suppose the interaction network of all subsystems may switch among finite digraphs, which contains some non-identical directed spanning trees. Based only on the state information of neighboring agents, a design procedure for constructing the distributed consensus protocol is developed. By employing the topology-dependent multiple Lyapunov functions (MLFs) method and algebraic graph theory, the criteria of consensus protocol design is given in terms of linear matrix inequalities (LMIs). It is proved that the H∞H∞ consensus tracking problem for multi-agent systems (MASs) under dynamic directed topologies can be solvable if the topology average dwell time satisfies a certain switching condition. Finally, a network system of F-18 aircraft is given as an example to verify the effectiveness of the proposed design method.