Distributed H ∞ consensus control in directed networks

In this paper, the H∞ consensus problem of a group of linear multi-agent systems with strongly connected communication graph is addressed. To achieve H∞ consensus, a distributed consensus protocol based only on the relative states of the neighboring agents is proposed. By using tools from algebraic graph theory and Lyapunov stability analysis, it is theoretically shown that H∞ consensus in the closed-loop multi-agent systems can be achieved if the distributed consensus protocol is appropriately designed. Furthermore, a two-step algorithm is presented to construct such a protocol. Finally, a simulation example is given to illustrate the effectiveness of the theoretical results.