ABSTRACT
This chapter considers the distributed H∞ and H2 consensus control problems for linear multi-agent systems in order to examine the disturbance attenuation performance of the consensus protocols with respect to external disturbances. It proposes a distributed consensus protocol based on the relative states of neighboring agents. The distributed H∞ consensus problem of a linear multi-agent network is converted to the H∞ control problem of a set of independent systems of the same dimension as a single agent. The notion of H∞ consensus region is then defined and discussed. The H∞ consensus region can be regarded as an extension of the notion of consensus region in order to evaluate the performance of the multi-agent network subject to external disturbances. It should be highlighted that the H2 consensus condition and the H2 performance limit, different from the H∞ consensus case, depend on the number of agents in the network.
