Adaptive H∞ consensus control of multi-agent systems with time delays

Design methods of adaptive H_∞ consensus control of multi-agent systems composed of the first-order and the second-order regression models with unknown time delays are presented in this paper. The proposed control schemes are derived as solutions of certain H_∞ control problems, where estimation errors of tuning parameters and imperfect knowledge of the leader are regarded as external disturbances to the process. It is shown that the resulting control systems are robust to uncertain system parameters and unknown time delays, and that the desirable consensus tracking is achieved approximately via adaptation schemes and L₂-gain design parameters.