6.5    Robust Consensus of Multiagent Systems

We are concerned here with consensus problems for a class of multiagent systems with second-order dynamics. Some dynamic neighbor-based rules are adopted for the agents with the consideration of parameter uncertainties and external disturbances. Sufficient conditions are derived to make all agents asymptotically reach consensus while satisfying desired H∞ performance. Finally, numerical simulations are provided in order to show the effectiveness of our theoretical results.

Figure 6.22: Velocity evolutions

6.5.1    Problem description

Suppose that the multiagent system under consideration ...

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