Robust ℋ∞ consensus for multi-agent systems with time-varying input delay using dynamic IQCs

Document Type

Conference Proceeding

Date of Original Version



In this paper, the distributed consensus control problem for linear multi-agent systems, subject to external disturbance and time-varying input delays, is addressed under the robust ℋ∞ and dynamic integral quadratic constraint (IQC) analysis framework. A novel distributed protocol is proposed using both relative plant state and IQC dynamics state information. It is shown that under the proposed design scheme, the consensus performance can be reached by solving the ℋ∞ control problems for a set of independent linear fractional transformation (LFT) systems, whose dimensions are equal to that of a single agent plant plus a single IQC dynamics. Furthermore, the synthesis conditions for the proposed IQC-based distributed consensus control are formulated in terms of linear matrix inequalities (LMIs), such that the optimal ℋ∞ consensus protocol can be synthesized via convex optimization. A numerical example is used to demonstrate the effectiveness of the proposed approach.

Publication Title

Proceedings of the American Control Conference