H∞ consensus of discrete time multi-agent system with communication delay and external disturbance

In this paper, discrete time multi-agent systems (MASs) with communication delays and external disturbances are studied. Since each agent can only obtain information from its neighbor, a consensus protocol considering time delay and relative position of agents is proposed. By constructing the appropriate Lyapunov function, the linear matrix inequality (LMI) is used to establish the H-infinity consistency criterion, and the solution is obtained by the cone-complementarity linearization (CCL) algorithm. Simulation example shows the effectiveness of this method.