Decomposition Design Of Decentralized H_∞ Controllor For A Class Of Multiagents System

In this paper,the design of the decentralized H_∞controllor for multiagents system is discussed.In our discussion,we assume that each agent is a linear system with disturbance term,local decentralized controllor use the limited relative information based on neighbour rules as input to achieve agreement of group variales and ensure disturbance attenuation. By discuss of algebra graph theory for Laplacian matrices,we assume that the communication is bidirectional and the existence of a reference or a leader,so each eigenvalue of Laplacian matix is a positive real between 0 and 2.Then we use a transformation based on the communication topology to decompose the LMI of H_∞for close multiagents system into a series of LMI subsystem relying on Laplacian eigenvalues.By this method,the number of variables to be calculated is dicrease greatly.At last the method is extended to the circumstance with time-delay.