H∞ Control for Second-order Multi-agent Systems With Markovian Switching Topologies

Abstract

In this paper, we studies consensus problems for double-integrator multi-agent systems subject to external disturbances and randomly switching topologies which obeys time homogeneous Markov process. Building on the tenets of the stochastic stability theory and the H _∞ control approach, the sufficient condition of consensus with H _∞ performance is derived for the systems. The control protocol presented is a common one which is not strictly dependent on random state. Finally, the theoretical results were verified by simulation.