Distributed robust H∞ rotating consensus control for directed networks of second-order agents with mixed uncertainties and time-delay

In this paper, distributed robust H∞ rotating consensus control is investigated for a class of second-order multi-agent systems with mixed uncertainties and time-delay. Firstly, the rotating consensus is defined in the real field. To solve the consensus problem, two distributed protocols are introduced for networks with and without time-delay respectively. Then by employing Lyapunov approach and H∞ control theory, two sufficient conditions in terms of linear matrix inequalities (LMIs) are derived to make all agents asymptotically reach rotating consensus with the desired H∞ performance. Finally, simulation results are provided to illustrate the effectiveness of our theoretical results.