Distributed H consensus control for nonlinear multi-agent systems under switching topologies via relative output feedback

Original Article


For a class of nonlinear multi-agent systems under switching topologies with disturbances, we propose a distributed H consensus control protocol based on relative output feedback and utilize an iterative algorithm for solving nonlinear matrix inequality in this paper. Firstly, a consensus control protocol via relative output feedback is designed. Then, an iterative algorithm is utilized to calculate nonlinear matrix inequality. By this, the output feedback gain is designed but not chosen, which increases the design degree of freedom and meanwhile H performance index γ is obtained. Finally, the proposed theory is applied to multiple simple-pendulums network systems driven by DC motors, and simulation results show the effectiveness of the designed consensus control protocol.


Multi-agent systems Relative output feedback Consensus Iterative algorithm 


Compliance with ethical standards


This study was funded by the Natural Science Foundation of China (grant number 61503045, 61403044) and the Science and Technology of Education Department of Jilin Province (grant number 2016337).

Conflict of interest

The authors declare that they have no conflict of interest.


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Copyright information

© The Natural Computing Applications Forum 2017

Authors and Affiliations

  1. 1.College of Electrical and Electronic EngineeringChangchun University of TechnologyChangchunChina
  2. 2.The State Key Laboratory of Management and Control for Complex Systems, Institute of AutomationChinese Academy of SciencesBeijingChina

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