Leader-follower H∞ consensus of linear multi-agent systems with aperiodic sampling and switching connected topologies

This paper is concerned with the distributed H infinity consensus of leader-follower multi-agent systems with aperiodic sampling interval and switching topologies. Under the assumption that the sampling period takes values from a given set, a new discrete-time model is proposed for the tracking error system. For the multi-agent systems with time-varying sampling period, switching topologies and external disturbance, the considered tracking problem is converted to a robust H infinity control problem. With help. of the Lyapunov stability theory, a sufficient condition for the existence of mode-dependent controller is established and it guarantees the exponential stability of tracking error system and a prescribed H infinity, disturbance attenuation level. The influence of sampling period on the overall control performance is also discussed. Two simulation examples are given to show the effectiveness of the proposed control algorithm. (C) 2017 Published by Elsevier Ltd. on behalf of ISA.