Consensus for Time-Delay Multi-Agent Systems with Finite Frequency-Domain H∞ Performance

This paper considers the consensus problem with finite frequency-domain H-infinity performance for uncertain multi-agent systems with time-delays. Using a linear transformation, the consensus problem is first transformed into a partial stability problem of a reduced dimensional system. Then, based on the orthogonal space information of input matrix, the unified method of designing four kinds of controllers guaranteeing the consensus with H-infinity performance in finite frequency ranges for the system is proposed. Moreover, the controller gain is achieved by an alternating iteration algorithm. A numerical example is included to show the effectiveness of the proposed approach.