Robust H∞ consensus control concerning second-order multi-agent systems with time-varying delays on dynamic topologies

Robust H-infinity consensus control for second-order multi-agent systems is addressed. Considering the delayed directed networks with disturbances and uncertainty parameters on dynamic topologies, the consensus protocols are proposed and analysed. By constructing the common Lyapunov-Krasovkii functional, applying the Lyapunov-Krasovkii theory and integral inequality approach, the sufficient condition of consensus protocol convergence is derived, guaranteeing robust H-infinity consensus for given second-order multi-agent systems. Finally, numerical examples are provided to demonstrate the effectiveness of the main results.