A dynamic output feedback protocol for H∞ consensus control of multi agents with nonlinear dynamics

This paper investigates the consensus control for systems of multi agents with nonlinear function satisfying the Lipschits condition and subject to external disturbances. By defining an appropriate controlled output, we transform this question into an H∞ control problem. Based on this, we design a distributed dynamic output feedback protocol with an undetermined system matrix, and derive some conditions in terms of linear matrix inequalities (LMIs) to guarantee consensus of all agents´ states. Furthermore, the system matrix of the dynamic output feedback protocol is designed by solving three LMIs. A simulation is given to show the effectiveness of the proposed consensus protocol.