Adaptive H∞ consensus control of multi-agent systems on directed graph

Design methods of adaptive H_∞ leader-following consensus control of multi-agent systems composed of the first-order and the second-order regression models on directed network graphs, are presented in this paper. The proposed control schemes are derived as solutions of certain H_∞ control problems, where estimation errors of tuning parameters are regarded as external disturbances to the process. The resulting control systems are shown to be robust to uncertain system parameters and the desirable consensus tracking is achieved approximately via adaptation schemes and design parameters.