output feedback consensus control of multi-agent systems with time delay and disturbance: an h∞ approach

In this paper, the distributed h∞ consensus control approach is studied for discrete-time multi-agent systems (mass) for undirected topology in the presence of the communication time delay and disturbance. with the help of lyapunov-krasovskii functional, a distributed output feedback control is designed in terms of lmis to achieve h∞ consensus stability for the mass. simulation results show that the proposed control algorithm can effectively suppress the effect of time delay and disturbance.