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

This paper is concerned with the distributed H∞ 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∞ 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∞ 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.