Robust H∞ output consensus of heterogeneous nonlinear multi-agent systems with external disturbance and unknown time-delay based on distributed Lyapunov-based MPC

This paper investigates a Lyapunov-based Model Predictive Control (LMPC) for solving the output consensus problem of nonlinear heterogeneous Multi-Agent Systems (MASs) subject to external disturbances and unknown time delay. Considering an appropriate Lyapunov–Krasovskii Functional (LKF), the optimization problem of the cost function is stated based on the given LKF which is effective in reducing the computational load. Additionally, sufficient conditions are derived to achieve the output consensus based on the [Formula: see text] performance index by solving the Linear Matrix Inequalities. To eliminate the effects of the unknown time delay in the MASs, the distributed controllers include both state feedback and time-delay state feedback terms. At last, numerical and practical examples are provided to show the applicability and effective performance of the proposed method.