Adaptive H∞1 consensus control of multi-agent systems preceded by input nonlinearities

Design methods of adaptive H∞ consensus control of multi-agent systems composed of the first-order and the second-order regression models with input nonlinearities such as dead-zone or backlash, 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 processes.