H2/H∞ Control for Consensus of Networked Swarm Agents with Static Connected Topology Graph

Consensus of swarm agents had appeared in many applications and attracted more and more interests of researchers. In this study, the controller based on states feedback for consensus of networked multi-agents was designed. The topology graph composed by the agents were assumed to be static and connected. Both complete and incomplete graph cases were considered. The agents were considered as discrete linear systems. The sufficient conditions for the agents to achieve consensus were obtained to meet the H2/H∞ performance for external disturbances. The results were based on matrix analysis and linear matrix inequality. Finally, numerical examples were given to illustrate the effectiveness of the results.