Robust Delay-dependent H∞ Consensus Control for Multi-agent Systems with Input Delays

This paper investigates the consensus control for multi-agent systems subject to external disturbances, input delays and model uncertainties of networks. By defining an appropriate controlled output, we transform this question into a robust H∞ control problem. Then, we give two criteria to judge the consensusability of closed-loop multi-agent systems and present a cone-complementary linearization algorithm to get the state feedback controller's parameters. Finally, numerical examples are given to show the effectiveness of the proposed consensus protocols.