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H∞ consensus control for high-order fully actuated multi-agent systems with external disturbances

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  • Qing-Hao Zhang
  • Jun-Guo Lu

Abstract

This paper addresses the $ H_\infty $ H∞ consensus control problem for high-order fully actuated multi-agent systems subject to external disturbances. Leveraging the unique characteristics of high-order fully actuated systems, distributed control protocols are designed that eliminate nonlinearities in the open-loop dynamics while establishing new closed-loop system behaviours. The $ H_\infty $ H∞ consensus problem is tackled for both undirected and directed communication graphs using the Kronecker product, inequality techniques, and the bounded real lemma. Linear matrix inequalities are employed to derive the design parameters for the control protocols. Additionally, a multi-spacecraft attitude model based on high-order fully actuated systems is proposed. Two illustrative examples are provided, one for an undirected graph and the other for a directed graph, to show the effectiveness and practical application of the proposed approach.

Suggested Citation

  • Qing-Hao Zhang & Jun-Guo Lu, 2025. "H∞ consensus control for high-order fully actuated multi-agent systems with external disturbances," International Journal of Systems Science, Taylor & Francis Journals, vol. 56(13), pages 3117-3134, October.
    • Handle: RePEc:taf:tsysxx:v:56:y:2025:i:13:p:3117-3134
    DOI: 10.1080/00207721.2025.2492301
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