Research On L₂-L_? Consensus Of Multi-Agent Systems

Coordination control of multi-agent systems is widely used in various fields such as the information fusion of sensor networks and the congestion control of communication networks.The consensus problem,one of the typical problems of coordination control of multi-agent systems,has both great theoretical significance and broad application prospect.Recently,a series of results on the consensus of multi-agent systems have sprung up in the literature.However,there are only a few results available on the-LL?2consensus of multi-agent systems subjected external disturbances.By using graph and matrix theory,Lyapunov theory and some decoupling approaches,this dissertation investigates the L₂-L_? consensus for several classes of multi-agent systems with external disturbances and proposes a set of new results.The contributions of this dissertation are as follows:?1?The problem of L₂-L_? consensus for a class of multi-agent systems with output feedback control protocol is investigated.By designing a static output feedback control protocol,the problem is converted into the standard L₂-L_? control issue of a reduced-order system.Sufficient conditions guaranteeing the L₂-L_? consensus of the system are obtained under the fixed topologies and switching topologies,respectively.The desirable feedback control gain can be obtained by solving a set of linear matrix inequalities.Finally,a numerical simulation is provided to illustrate the effectiveness of the proposed control protocol.?2?The problem of L₂-L_? consensus for a class of multi-agent systems with sampled-data control protocol is investigated.By designing a dynamic output feedback protocol with sampled-data and employing the input/output delay approach,the problem is transformed into the standard L₂-L_? control issue of a reduced-order system with time-varying delays.Sufficient conditions guaranteeing the L₂-L_? consensus of the system are obtained under the fixed and switching topologies,respectively.Then,an approach to solving the desired control gain is provided.Finally,a numerical simulation is provided to illustrate the effectiveness of the proposed control protocol.?3?The problem of L₂-L_? consensus for a class of second-order multi-agentsystems with input delay is investigated.By designing a feedback control protocol with time-varying input delay,the problem is changed into the standard L₂-L_? control issue of a reduced-order system with time-varying delay.Sufficient conditions for guaranteeing the L₂-L_? consensus of the system are obtained under the fixed topologies and switching topologies,respectively.Finally,a numerical simulation is provided to illustrate the correctness of the proposed control protocol.